diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bb9505fbd2c63a85d2dcd7c37832fe5eb8b6c54a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2631915851093375, + 0.20788196282893462, + 1.1579162655708775 + ], + "current_z": 1.1579162655708775, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30132981776695666, + "gripper_z": 1.1510419062157313, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25851622983737854, + 0.20315735242173996, + 1.1510419062157313 + ], + "object_minus_gripper": [ + 0.0046753552719589475, + 0.004724610407194657, + 0.006874359355146131 + ], + "object_to_gripper_xy": 0.006646870723792241, + "object_to_gripper_z": 0.006874359355146131, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2631915851093375, + 0.18399782236203718, + 1.1579162655708775 + ], + "finger_b": [ + 0.2524620576561857, + 0.20788196282893462, + 1.1579162655708775 + ], + "finger_midpoint": [ + 0.2578268213827616, + 0.1959398925954859, + 1.1579162655708775 + ], + "object_minus_finger_midpoint": [ + 0.005364763726575905, + 0.011942070233448732, + 0.0 + ], + "finger_gap": 0.02618348573453172, + "fingertip_max_gap": 0.0901437545829728, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013091742867265872, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1579162655708775, + "object_top_z": 1.2033792604693208, + "finger_top_clearance": 0.0454629948984433, + "fingertip_min_top_clearance": 0.013638898469532989, + "object_projection_between_fingers": 0.8320785152219455, + "object_to_finger_line_xy": 0.009787296597279954, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0475718772914864, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4405101910887348, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3428059579815349, + -0.3603265527423128, + 0.8470196281361044 + ], + "target_position": [ + 0.3354927798857028, + -0.3620262698150757, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007508103088583695, + "xy_threshold": 0.08, + "gripper_dist": 0.18693486763733552, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196281361044, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524921927446321, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1559790629930938, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00850677490234375, + "max_z_decrease": 0.00850677490234375, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501071010008439, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00850677490234375, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02114071672686268, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00850677490234375, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008506897668631988, + "max_button_displacement": 0.12, + "button_start": [ + 0.19119270145893097, + -0.41828772425651556, + 0.7768088579177856 + ], + "button_final": [ + 0.19119270145893097, + -0.41828772425651556, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18992075733989675, + -0.41761082809396005, + 0.8036521552469832 + ], + "closest_button": [ + 0.19115135073661801, + -0.41825175285339355, + 0.7686689496040344 + ], + "closest_ee_minus_button": [ + -0.001230593396721269, + 0.0006409247594335032, + 0.03498320564294877 + ], + "button_min_z_position": [ + 0.19115406274795532, + -0.41826331615448, + 0.7683020830154419 + ], + "min_active_finger_to_button": 0.1468142989687385, + "closest_active_finger": [ + 0.06318479776382446, + -0.4811650216579437, + 0.80792236328125 + ], + "closest_active_finger_button": [ + 0.19120308756828305, + -0.4182920157909394, + 0.7730979323387146 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1280182898044586, + -0.06287300586700434, + 0.0348244309425354 + ], + "min_contact_pad_to_button": 0.02114071672686268, + "closest_contact_pad": [ + 0.19115406274795532, + -0.4187259933874505, + 0.7894377361518733 + ], + "closest_contact_pad_button": [ + 0.19115406274795532, + -0.41826331615448, + 0.7683020830154419 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004626772329704987, + 0.021135653136431398 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e1dd6d775574b9fd9949711042ab85bb1b04c932b71c23fb2de14ea4022be40a", + "visual_seed": 1536089804776385491, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c85b8f078fb8dd7357693229417369c33474a589 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26840582192717866, + 0.19936052713974317, + 1.157716369827907 + ], + "current_z": 1.157716369827907, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30112986241934137, + "gripper_z": 1.150978735752577, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2635054192879511, + 0.19458182500499302, + 1.150978735752577 + ], + "object_minus_gripper": [ + 0.00490040263922753, + 0.004778702134750151, + 0.006737634075330012 + ], + "object_to_gripper_xy": 0.006844701609216708, + "object_to_gripper_z": 0.006737634075330012, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26840582192717866, + 0.17523363329765324, + 1.157716369827907 + ], + "finger_b": [ + 0.2577091794943156, + 0.19936052713974317, + 1.157716369827907 + ], + "finger_midpoint": [ + 0.2630575007107471, + 0.1872970802186982, + 1.157716369827907 + ], + "object_minus_finger_midpoint": [ + 0.005348321216431529, + 0.012063446921044968, + 0.0 + ], + "finger_gap": 0.026391763218928815, + "fingertip_max_gap": 0.0902260640803231, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013195881609464407, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157716369827907, + "object_top_z": 1.2032320248131265, + "finger_top_clearance": 0.04551565498521959, + "fingertip_min_top_clearance": 0.01365469649556591, + "object_projection_between_fingers": 0.8357300425685943, + "object_to_finger_line_xy": 0.009778685656719688, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047613032040161554, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5323846373192161, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.34235966722297007, + -0.35296159257307724, + 0.8470195509595501 + ], + "target_position": [ + 0.3351875420671807, + -0.35478101882089713, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007399303421374369, + "xy_threshold": 0.08, + "gripper_dist": 0.18735014552673546, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195509595501, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758921517831523, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552503025937357, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15476215976038052, + "release_required_pad_clearance": 0.052762515129686785, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5747108005370467, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00841301679611206, + "max_z_decrease": 0.00841301679611206, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501128584469745, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00841301679611206, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021138045726002135, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00841301679611206, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008413076593371455, + "max_button_displacement": 0.12, + "button_start": [ + 0.19088746607303617, + -0.4110424816608429, + 0.7768088579177856 + ], + "button_final": [ + 0.19088746607303617, + -0.4110424816608429, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1900225621695021, + -0.4119369293603729, + 0.8037498680051116 + ], + "closest_button": [ + 0.19086480140686035, + -0.411021739244461, + 0.7687606811523438 + ], + "closest_ee_minus_button": [ + -0.0008422392373582388, + -0.0009151901159119014, + 0.03498918685276786 + ], + "button_min_z_position": [ + 0.1908605843782425, + -0.41102564334869385, + 0.7683958411216736 + ], + "min_active_finger_to_button": 0.146612839194475, + "closest_active_finger": [ + 0.04901101440191269, + -0.3983602821826935, + 0.8078977465629578 + ], + "closest_active_finger_button": [ + 0.1908968836069107, + -0.41104841232299805, + 0.7732172608375549 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14188586920499802, + 0.012688130140304565, + 0.03468048572540283 + ], + "min_contact_pad_to_button": 0.021138045726002135, + "closest_contact_pad": [ + 0.1908605843782425, + -0.4128822821360077, + 0.7894521909840785 + ], + "closest_contact_pad_button": [ + 0.1908605843782425, + -0.41102564334869385, + 0.7683958411216736 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018566387873138468, + 0.0210563498624049 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7e5935895656a0e66c7fc20c208554bf3b64ef6e6aca4a035282c40a26e2abcc", + "visual_seed": 8154045236629729716, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..05dbff8bebf97dc41f1927a769d9520fbb004876 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2669845615137645, + 0.20164077085663978, + 1.1574812854265992 + ], + "current_z": 1.1574812854265992, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3008946588087441, + "gripper_z": 1.150644096453711, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26211524050806845, + 0.19670979019177529, + 1.150644096453711 + ], + "object_minus_gripper": [ + 0.004869321005696037, + 0.004930980664864498, + 0.0068371889728882085 + ], + "object_to_gripper_xy": 0.006929996924514483, + "object_to_gripper_z": 0.0068371889728882085, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2669845615137645, + 0.17778712268462052, + 1.1574812854265992 + ], + "finger_b": [ + 0.25574438512046493, + 0.20164077085663978, + 1.1574812854265992 + ], + "finger_midpoint": [ + 0.2613644733171147, + 0.18971394677063014, + 1.1574812854265992 + ], + "object_minus_finger_midpoint": [ + 0.005620088196649775, + 0.011926824086009646, + 0.0 + ], + "finger_gap": 0.026369264238255995, + "fingertip_max_gap": 0.09003151229462247, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318463211912801, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1574812854265992, + "object_top_z": 1.2029473823056367, + "finger_top_clearance": 0.045466096879037465, + "fingertip_min_top_clearance": 0.013639829063711239, + "object_projection_between_fingers": 0.8183019656273205, + "object_to_finger_line_xy": 0.01016786857056945, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04751575614731124, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4905215952797517, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33721195099167683, + -0.3584583835798598, + 0.847019478248484 + ], + "target_position": [ + 0.33051794713539595, + -0.3598078361937957, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006828668243893659, + "xy_threshold": 0.08, + "gripper_dist": 0.1860427264648171, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019478248484, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551845142213727, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08593446350859789, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1542361256753025, + "release_required_pad_clearance": 0.052967231754298946, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9691356092976581, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008644580841064453, + "max_z_decrease": 0.008644580841064453, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500643375184025, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008644580841064453, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021062170185515774, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008644580841064453, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008644669210238447, + "max_button_displacement": 0.12, + "button_start": [ + 0.18621787428855896, + -0.41606929898262024, + 0.7768088579177856 + ], + "button_final": [ + 0.18621787428855896, + -0.41606929898262024, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18486807764132185, + -0.415970507490994, + 0.8031441400652546 + ], + "closest_button": [ + 0.1862303465604782, + -0.41603225469589233, + 0.7681642770767212 + ], + "closest_ee_minus_button": [ + -0.001362268919156362, + 6.174720489832142e-05, + 0.034979862988533394 + ], + "button_min_z_position": [ + 0.1862303465604782, + -0.41603225469589233, + 0.7681642770767212 + ], + "min_active_finger_to_button": 0.1470393006104895, + "closest_active_finger": [ + 0.05830007791519165, + -0.4797855615615845, + 0.8101204037666321 + ], + "closest_active_finger_button": [ + 0.18622246384620667, + -0.4160725772380829, + 0.7755216360092163 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12792238593101501, + -0.06371298432350159, + 0.03459876775741577 + ], + "min_contact_pad_to_button": 0.021062170185515774, + "closest_contact_pad": [ + 0.1862303465604782, + -0.41706811725464066, + 0.7892009593646442 + ], + "closest_contact_pad_button": [ + 0.1862303465604782, + -0.41603225469589233, + 0.7681642770767212 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001035862558748324, + 0.021036682287922992 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "132308a2c09cf47f6f537a152000c2e164ee376775ca2476b4b6f4c6b8216102", + "visual_seed": 8588779749676389985, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e91984c23e218f0315e25b400aa87f82b61354b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2612025618820582, + 0.20571194121024888, + 1.1550904348231492 + ], + "current_z": 1.1550904348231492, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29850386780993887, + "gripper_z": 1.1484443562832098, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25628934278951987, + 0.20091682729361343, + 1.1484443562832098 + ], + "object_minus_gripper": [ + 0.0049132190925383346, + 0.004795113916635452, + 0.006646078539939371 + ], + "object_to_gripper_xy": 0.006865336067869817, + "object_to_gripper_z": 0.006646078539939371, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2612025618820582, + 0.18163953735889982, + 1.1550904348231492 + ], + "finger_b": [ + 0.25040354656553887, + 0.20571194121024888, + 1.1550904348231492 + ], + "finger_midpoint": [ + 0.25580305422379856, + 0.19367573928457435, + 1.1550904348231492 + ], + "object_minus_finger_midpoint": [ + 0.005399507658259639, + 0.012036201925674533, + 0.0 + ], + "finger_gap": 0.02638369494572101, + "fingertip_max_gap": 0.09037182865679441, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013191847472860495, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1550904348231492, + "object_top_z": 1.2006035260862944, + "finger_top_clearance": 0.04551309126314518, + "fingertip_min_top_clearance": 0.013653927378943553, + "object_projection_between_fingers": 0.8324682672085542, + "object_to_finger_line_xy": 0.00985298906885364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768591432839721, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5504875565127972, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33469218978727155, + -0.35539506589349157, + 0.847019556123905 + ], + "target_position": [ + 0.32712388480841637, + -0.3570345900305037, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007743854314797613, + "xy_threshold": 0.08, + "gripper_dist": 0.18647255688337605, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019556123905, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524967908068453, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863014782214717, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1553980122452726, + "release_required_pad_clearance": 0.05315073911073585, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3264572508061259, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008490324020385742, + "max_z_decrease": 0.008490324020385742, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499513094968877, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008490324020385742, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021114687600084975, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008490324020385742, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008490381659932792, + "max_button_displacement": 0.12, + "button_start": [ + 0.18282380700111384, + -0.4132960438728332, + 0.7768088579177856 + ], + "button_final": [ + 0.18282380700111384, + -0.4132960438728332, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1828357857259664, + -0.4138947432135394, + 0.8033080573342916 + ], + "closest_button": [ + 0.18283826112747187, + -0.4132682979106903, + 0.7683185338973999 + ], + "closest_ee_minus_button": [ + -2.4754015054695433e-06, + -0.0006264453028491102, + 0.034989523436891656 + ], + "button_min_z_position": [ + 0.18283826112747187, + -0.4132682979106903, + 0.7683185338973999 + ], + "min_active_finger_to_button": 0.14577898012864884, + "closest_active_finger": [ + 0.04200039803981781, + -0.3985380232334137, + 0.8075137734413147 + ], + "closest_active_finger_button": [ + 0.18283346295356745, + -0.4133020043373108, + 0.7728787660598755 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14083306491374964, + 0.014763981103897095, + 0.03463500738143921 + ], + "min_contact_pad_to_button": 0.021114687600084975, + "closest_contact_pad": [ + 0.18283826112747187, + -0.41500851472218425, + 0.7893613872661371 + ], + "closest_contact_pad_button": [ + 0.18283826112747187, + -0.4132682979106903, + 0.7683185338973999 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017402168114939442, + 0.021042853368737235 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b2aebf74b0223dcd21fd33a672d91d1afa0c2850dec6d899168f1f790cc5e3a", + "visual_seed": 1654152512810018927, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1d3af4ac803c8d69b69a7b21bde54119a72ea999 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26581633085712975, + 0.202888096560481, + 1.1552846753622419 + ], + "current_z": 1.1552846753622419, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.2986982275583211, + "gripper_z": 1.1486394645103921, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26096548215273224, + 0.1980202114685406, + 1.1486394645103921 + ], + "object_minus_gripper": [ + 0.0048508487043975035, + 0.004867885091940416, + 0.00664521085184977 + ], + "object_to_gripper_xy": 0.006872193130383538, + "object_to_gripper_z": 0.00664521085184977, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26581633085712975, + 0.17894759471240548, + 1.1552846753622419 + ], + "finger_b": [ + 0.25479047869004, + 0.202888096560481, + 1.1552846753622419 + ], + "finger_midpoint": [ + 0.2603034047735849, + 0.19091784563644326, + 1.1552846753622419 + ], + "object_minus_finger_midpoint": [ + 0.005512926083544867, + 0.01197025092403775, + 0.0 + ], + "finger_gap": 0.026357485554358656, + "fingertip_max_gap": 0.09009440056548651, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013178742777179316, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1552846753622419, + "object_top_z": 1.2007814273120248, + "finger_top_clearance": 0.045496751949782865, + "fingertip_min_top_clearance": 0.01364902558493486, + "object_projection_between_fingers": 0.8250087327933983, + "object_to_finger_line_xy": 0.01001478056920223, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04754720028274326, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5503278231879474, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33696556549551254, + -0.3546086470478366, + 0.8470196108288202 + ], + "target_position": [ + 0.3298165988853328, + -0.35624866812551004, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007334670594421918, + "xy_threshold": 0.08, + "gripper_dist": 0.1860026389158724, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196108288202, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575432047603545, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498290696549042, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15368740950559634, + "release_required_pad_clearance": 0.05249145348274521, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.055952430279900565, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008627891540527344, + "max_z_decrease": 0.008627891540527344, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503588789004243, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008627891540527344, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021142819727996934, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008627891540527344, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008628018546431061, + "max_button_displacement": 0.12, + "button_start": [ + 0.18551652133464805, + -0.4125101268291473, + 0.7768088579177856 + ], + "button_final": [ + 0.18551652133464805, + -0.4125101268291473, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18689090234256892, + -0.41337076698610425, + 0.8031778408434485 + ], + "closest_button": [ + 0.18550892174243916, + -0.41246393322944636, + 0.7681809663772583 + ], + "closest_ee_minus_button": [ + 0.0013819806001297563, + -0.0009068337566578988, + 0.03499687446619015 + ], + "button_min_z_position": [ + 0.18550892174243916, + -0.41246393322944636, + 0.7681809663772583 + ], + "min_active_finger_to_button": 0.1444443298266957, + "closest_active_finger": [ + 0.04594419151544571, + -0.3990955352783203, + 0.8073907494544983 + ], + "closest_active_finger_button": [ + 0.18552717566490162, + -0.4125157296657562, + 0.7727403044700623 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1395829841494559, + 0.013420194387435913, + 0.034650444984436035 + ], + "min_contact_pad_to_button": 0.021142819727996934, + "closest_contact_pad": [ + 0.18550892174243916, + -0.4143907186099501, + 0.7892358072493251 + ], + "closest_contact_pad_button": [ + 0.18550892174243916, + -0.41246393322944636, + 0.7681809663772583 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001926785380503726, + 0.02105484087206677 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e56b1ede44f66aad7d269ba9776638078b2733f7a070cbceb9fa25133997bfea", + "visual_seed": 1398423125879463882, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1179be316715d08310521dfc93c5afbbc5f4ebea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2649442967528199, + 0.20356776897485854, + 1.1586723329909476 + ], + "current_z": 1.1586723329909476, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30208588518702684, + "gripper_z": 1.151801620251002, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26023756597877723, + 0.19888638264924396, + 1.151801620251002 + ], + "object_minus_gripper": [ + 0.004706730774042656, + 0.004681386325614573, + 0.006870712739945661 + ], + "object_to_gripper_xy": 0.006638425454049423, + "object_to_gripper_z": 0.006870712739945661, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2649442967528199, + 0.17954204574808166, + 1.1586723329909476 + ], + "finger_b": [ + 0.2544331322221096, + 0.20356776897485854, + 1.1586723329909476 + ], + "finger_midpoint": [ + 0.2596887144874648, + 0.1915549073614701, + 1.1586723329909476 + ], + "object_minus_finger_midpoint": [ + 0.005255582265355108, + 0.012012861613388437, + 0.0 + ], + "finger_gap": 0.026224415272057974, + "fingertip_max_gap": 0.090232019939393, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013112207636028975, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1586723329909476, + "object_top_z": 1.2041610401145144, + "finger_top_clearance": 0.045488707123566785, + "fingertip_min_top_clearance": 0.013646612137070068, + "object_projection_between_fingers": 0.8393465555715094, + "object_to_finger_line_xy": 0.009629893638659612, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047616009969696504, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.45375362301908545, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3420738776478063, + -0.360530041138726, + 0.8470197682455651 + ], + "target_position": [ + 0.334733482168815, + -0.3623528059479052, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0075633244897715364, + "xy_threshold": 0.08, + "gripper_dist": 0.187084053191299, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197682455651, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532018830549031, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08533700138903304, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15581180080129636, + "release_required_pad_clearance": 0.05266850069451652, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.39366352157521145, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008453428745269775, + "max_z_decrease": 0.008453428745269775, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350940985990349, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008453428745269775, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021026281509775258, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008453428745269775, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008453491302282639, + "max_button_displacement": 0.12, + "button_start": [ + 0.1904334127902984, + -0.4186142683029175, + 0.7768088579177856 + ], + "button_final": [ + 0.1904334127902984, + -0.4186142683029175, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18834436522451473, + -0.4166268460953933, + 0.8033303110280364 + ], + "closest_button": [ + 0.19046017527580256, + -0.4185957908630371, + 0.7683554291725159 + ], + "closest_ee_minus_button": [ + -0.002115810051287831, + 0.00196894476764381, + 0.034974881855520557 + ], + "button_min_z_position": [ + 0.19046017527580256, + -0.4185957908630371, + 0.7683554291725159 + ], + "min_active_finger_to_button": 0.14685529618317847, + "closest_active_finger": [ + 0.062299661338329315, + -0.4814755916595459, + 0.8099703788757324 + ], + "closest_active_finger_button": [ + 0.19043880701065058, + -0.41861703991889954, + 0.7753923535346985 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12813914567232126, + -0.06285855174064636, + 0.034578025341033936 + ], + "min_contact_pad_to_button": 0.021026281509775258, + "closest_contact_pad": [ + 0.19046017527580256, + -0.4185957908630371, + 0.7893817106822911 + ], + "closest_contact_pad_button": [ + 0.19046017527580256, + -0.4185957908630371, + 0.7683554291725159 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021026281509775258 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b408612e31b06801aebca27447816db11a29b4c24ab8026b0e8c80da0da28ada", + "visual_seed": 8667660861263060856, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..837aa80259a8c3aa0e3ace9153d41238ebe58b63 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2658054057654311, + 0.20654307846248932, + 1.1591110158041824 + ], + "current_z": 1.1591110158041824, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3025245680002616, + "gripper_z": 1.152269355002284, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26098318170901114, + 0.20167481299732226, + 1.152269355002284 + ], + "object_minus_gripper": [ + 0.004822224056419966, + 0.004868265465167054, + 0.006841660801898408 + ], + "object_to_gripper_xy": 0.006852288193709721, + "object_to_gripper_z": 0.006841660801898408, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2658054057654311, + 0.18265648424925585, + 1.1591110158041824 + ], + "finger_b": [ + 0.2547380337850561, + 0.20654307846248932, + 1.1591110158041824 + ], + "finger_midpoint": [ + 0.2602717197752436, + 0.19459978135587258, + 1.1591110158041824 + ], + "object_minus_finger_midpoint": [ + 0.005533685990187498, + 0.011943297106616735, + 0.0 + ], + "finger_gap": 0.02632595877949497, + "fingertip_max_gap": 0.09013826844062747, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013162979389747484, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1591110158041824, + "object_top_z": 1.2046002076185776, + "finger_top_clearance": 0.04548919181439515, + "fingertip_min_top_clearance": 0.013646757544318544, + "object_projection_between_fingers": 0.8232657911073396, + "object_to_finger_line_xy": 0.010041868777369505, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04756913422031374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5324070214810914, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3353883487187368, + -0.3569207905179388, + 0.847019113386053 + ], + "target_position": [ + 0.3284242548370038, + -0.3583260065632538, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007104451824567561, + "xy_threshold": 0.08, + "gripper_dist": 0.1847717354491256, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019113386053, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527280903519792, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08607000622401438, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15376910018575596, + "release_required_pad_clearance": 0.05303500311200719, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1000159208326072, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008498847484588623, + "max_z_decrease": 0.008498847484588623, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505302870292884, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008498847484588623, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021179403375259587, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008498847484588623, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00849889432692759, + "max_button_displacement": 0.12, + "button_start": [ + 0.1841241866350174, + -0.41458746790885925, + 0.7768088579177856 + ], + "button_final": [ + 0.1841241866350174, + -0.41458746790885925, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18516356846655196, + -0.41276183581608383, + 0.803301098346499 + ], + "closest_button": [ + 0.18411415815353394, + -0.41456109285354614, + 0.768310010433197 + ], + "closest_ee_minus_button": [ + 0.0010494103130180288, + 0.0017992570374623096, + 0.034991087913301966 + ], + "button_min_z_position": [ + 0.18411415815353394, + -0.41456109285354614, + 0.768310010433197 + ], + "min_active_finger_to_button": 0.14430565778739743, + "closest_active_finger": [ + 0.057783275842666626, + -0.47494375705718994, + 0.8077784180641174 + ], + "closest_active_finger_button": [ + 0.18413597345352173, + -0.4145902395248413, + 0.7728990316390991 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1263526976108551, + -0.06035351753234863, + 0.03487938642501831 + ], + "min_contact_pad_to_button": 0.021179403375259587, + "closest_contact_pad": [ + 0.18411415815353394, + -0.41456109285354614, + 0.7894894138084566 + ], + "closest_contact_pad_button": [ + 0.18411415815353394, + -0.41456109285354614, + 0.768310010433197 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021179403375259587 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d3225daec8f2b324b8d752d1be04b295ac56b4d69ebec389965fcafae4e14ab0", + "visual_seed": 3281550931073256351, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..08ef86e608de22adf3187c5c8d45ad481cb7ad88 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26568818568232117, + 0.20796510526991796, + 1.1558573729762573 + ], + "current_z": 1.1558573729762573, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.299270805963047, + "gripper_z": 1.149016424675958, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26084415715249576, + 0.20325180885953256, + 1.149016424675958 + ], + "object_minus_gripper": [ + 0.004844028529825406, + 0.004713296410385398, + 0.006840948300299354 + ], + "object_to_gripper_xy": 0.006758681487532487, + "object_to_gripper_z": 0.006840948300299354, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26568818568232117, + 0.18386820376998012, + 1.1558573729762573 + ], + "finger_b": [ + 0.25511420095053666, + 0.20796510526991796, + 1.1558573729762573 + ], + "finger_midpoint": [ + 0.2604011933164289, + 0.19591665451994905, + 1.1558573729762573 + ], + "object_minus_finger_midpoint": [ + 0.005286992365892251, + 0.012048450749968909, + 0.0 + ], + "finger_gap": 0.026314821204137386, + "fingertip_max_gap": 0.09011844785665671, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013157410602068681, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1558573729762573, + "object_top_z": 1.201311117177124, + "finger_top_clearance": 0.045453744200866675, + "fingertip_min_top_clearance": 0.013636123260259968, + "object_projection_between_fingers": 0.8385357012174048, + "object_to_finger_line_xy": 0.009682766474719448, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047559223928328356, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.43509121317327887, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3343485996684316, + -0.3612487730810332, + 0.8470195583580732 + ], + "target_position": [ + 0.3271072362180237, + -0.3627185990080635, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007389027870882234, + "xy_threshold": 0.08, + "gripper_dist": 0.18671339501617673, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195583580732, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513017305087732, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08525827432983178, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15603306898423655, + "release_required_pad_clearance": 0.05262913716491589, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3189807644773377, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008674919605255127, + "max_z_decrease": 0.008674919605255127, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501658205014476, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008674919605255127, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02104898655226791, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008674919605255127, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008675146703635983, + "max_button_displacement": 0.12, + "button_start": [ + 0.1828071624040603, + -0.41898006200790405, + 0.7768088579177856 + ], + "button_final": [ + 0.1828071624040603, + -0.41898006200790405, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1837562912100068, + -0.4192748382923534, + 0.8031347573275753 + ], + "closest_button": [ + 0.18276154994964594, + -0.41893693804740906, + 0.7681339383125305 + ], + "closest_ee_minus_button": [ + 0.0009947412603608652, + -0.0003379002449443447, + 0.035000819015044815 + ], + "button_min_z_position": [ + 0.18276154994964594, + -0.41893693804740906, + 0.7681339383125305 + ], + "min_active_finger_to_button": 0.1448717875360606, + "closest_active_finger": [ + 0.0428367480635643, + -0.40482649207115173, + 0.8077890872955322 + ], + "closest_active_finger_button": [ + 0.18281383812427515, + -0.4189871847629547, + 0.7732387781143188 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13997709006071085, + 0.014160692691802979, + 0.03455030918121338 + ], + "min_contact_pad_to_button": 0.02104898655226791, + "closest_contact_pad": [ + 0.18276154994964594, + -0.4203051173152086, + 0.7891384121304751 + ], + "closest_contact_pad_button": [ + 0.18276154994964594, + -0.41893693804740906, + 0.7681339383125305 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013681792677995297, + 0.02100447381794457 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "798586629cf12442fc623d99239ce052fe3ca788568acfdad6c6f20307b81976", + "visual_seed": 6610031724940398531, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed853cd3cc13b2cdb93d5e808562299b71cc304 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2600654439214715, + 0.20381790830508784, + 1.156703236644349 + ], + "current_z": 1.156703236644349, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3001166100264939, + "gripper_z": 1.149773657940914, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2552876373626665, + 0.19915465428657542, + 1.149773657940914 + ], + "object_minus_gripper": [ + 0.004777806558804998, + 0.004663254018512419, + 0.006929578703435135 + ], + "object_to_gripper_xy": 0.006676329347368379, + "object_to_gripper_z": 0.006929578703435135, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2600654439214715, + 0.17967075984920652, + 1.156703236644349 + ], + "finger_b": [ + 0.24968948437599545, + 0.20381790830508784, + 1.156703236644349 + ], + "finger_midpoint": [ + 0.25487746414873347, + 0.1917443340771472, + 1.156703236644349 + ], + "object_minus_finger_midpoint": [ + 0.0051879797727380494, + 0.012073574227940642, + 0.0 + ], + "finger_gap": 0.02628203407348311, + "fingertip_max_gap": 0.09035707350884822, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013141017036741549, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156703236644349, + "object_top_z": 1.2021762230581166, + "finger_top_clearance": 0.04547298641376751, + "fingertip_min_top_clearance": 0.01364189592413022, + "object_projection_between_fingers": 0.8441385932770834, + "object_to_finger_line_xy": 0.009533121934790372, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047678536754424114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4831125363760273, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33528093665592934, + -0.3615312760847489, + 0.8470197120766257 + ], + "target_position": [ + 0.32882065854902176, + -0.3627018455928085, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006565472274847278, + "xy_threshold": 0.08, + "gripper_dist": 0.1863457471192398, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197120766257, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566417623630059, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08579805339394163, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15409007956973042, + "release_required_pad_clearance": 0.052899026696970816, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8374282849795659, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008375346660614014, + "max_z_decrease": 0.008375346660614014, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035007250613300976, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008375346660614014, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021260811979996175, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008375346660614014, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008375458200296237, + "max_button_displacement": 0.12, + "button_start": [ + 0.18452058732509613, + -0.41896331310272206, + 0.7768088579177856 + ], + "button_final": [ + 0.18452058732509613, + -0.41896331310272206, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1844974377622452, + -0.4198740334022967, + 0.8037912114228558 + ], + "closest_button": [ + 0.18449027836322784, + -0.4189482331275939, + 0.7687962055206299 + ], + "closest_ee_minus_button": [ + 7.159399017353518e-06, + -0.0009258002747027927, + 0.03499500590222593 + ], + "button_min_z_position": [ + 0.18448039889335632, + -0.418947398662567, + 0.7684335112571716 + ], + "min_active_finger_to_button": 0.1458344775622848, + "closest_active_finger": [ + 0.04383744299411774, + -0.4029320478439331, + 0.808100700378418 + ], + "closest_active_finger_button": [ + 0.1845310926437378, + -0.41896748542785633, + 0.773231565952301 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14069364964962006, + 0.01603543758392323, + 0.03486913442611694 + ], + "min_contact_pad_to_button": 0.021260811979996175, + "closest_contact_pad": [ + 0.18448039889335632, + -0.42112198316775046, + 0.7895828211342945 + ], + "closest_contact_pad_button": [ + 0.18448039889335632, + -0.418947398662567, + 0.7684335112571716 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00217458450518343, + 0.021149309877122824 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b2e7fa5f8d1e09472be9ed4c6a472d06fcbe3cbfea51cef6fca9982026368dca", + "visual_seed": 504961074633064740, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7b141cdc8bb586b93d4dfc7f5e7b67be90013590 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26504684287499847, + 0.20823945736223196, + 1.155364988246721 + ], + "current_z": 1.155364988246721, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2987784808381554, + "gripper_z": 1.1485885692721431, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2601598433701885, + 0.2034641094828321, + 1.1485885692721431 + ], + "object_minus_gripper": [ + 0.004886999504809975, + 0.004775347879399844, + 0.006776418974577814 + ], + "object_to_gripper_xy": 0.006832767486846126, + "object_to_gripper_z": 0.006776418974577814, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26504684287499847, + 0.1841760812572325, + 1.155364988246721 + ], + "finger_b": [ + 0.2542990920444779, + 0.20823945736223196, + 1.155364988246721 + ], + "finger_midpoint": [ + 0.2596729674597382, + 0.19620776930973222, + 1.155364988246721 + ], + "object_minus_finger_midpoint": [ + 0.005373875415260243, + 0.01203168805249974, + 0.0 + ], + "finger_gap": 0.02635451038220239, + "fingertip_max_gap": 0.09027752971067204, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013177255191101196, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.155364988246721, + "object_top_z": 1.200823126485333, + "finger_top_clearance": 0.04545813823861211, + "fingertip_min_top_clearance": 0.013637441471583633, + "object_projection_between_fingers": 0.8336873535125158, + "object_to_finger_line_xy": 0.009813393106793997, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047638764855336024, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.41619560921794835, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3388578868753912, + -0.3612413584180135, + 0.8470195713296431 + ], + "target_position": [ + 0.331628905130766, + -0.3629183162322594, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0074209409494271645, + "xy_threshold": 0.08, + "gripper_dist": 0.18610987484358557, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195713296431, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577435347061157, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08754871915272087, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15373932568058246, + "release_required_pad_clearance": 0.05377435957636044, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.557719283376422, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008459687232971191, + "max_z_decrease": 0.008459687232971191, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500418275197423, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008459687232971191, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021215017414482954, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008459687232971191, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008459854806184379, + "max_button_displacement": 0.12, + "button_start": [ + 0.18732883036136627, + -0.419179767370224, + 0.7768088579177856 + ], + "button_final": [ + 0.18732883036136627, + -0.419179767370224, + 0.7768088579177856 + ], + "closest_ee": [ + 0.187926777577688, + -0.4187391237621358, + 0.8037103816217752 + ], + "closest_button": [ + 0.18729029595851898, + -0.41915255784988403, + 0.768714427947998 + ], + "closest_ee_minus_button": [ + 0.0006364816191690159, + 0.0004134340877482434, + 0.03499595367377717 + ], + "button_min_z_position": [ + 0.18728247284889216, + -0.4191535711288452, + 0.7683491706848145 + ], + "min_active_finger_to_button": 0.14531009325341301, + "closest_active_finger": [ + 0.0606209859251976, + -0.48112741112709045, + 0.8080815076828003 + ], + "closest_active_finger_button": [ + 0.18733981251716614, + -0.41918274760246277, + 0.773149847984314 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12671882659196854, + -0.061944663524627686, + 0.03493165969848633 + ], + "min_contact_pad_to_button": 0.021215017414482954, + "closest_contact_pad": [ + 0.18728247284889216, + -0.41997453809146734, + 0.7895482974862442 + ], + "closest_contact_pad_button": [ + 0.18728247284889216, + -0.4191535711288452, + 0.7683491706848145 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008209669626221272, + 0.02119912680142977 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "de5cbceb40d2aa0a485b4966a5e71714ffc391f7e440de17e1015b8b9da0993e", + "visual_seed": 2406029307224101100, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f7129c7d0a3863c1c3c2bc61470dc4b5760447b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2605336633854474, + 0.2014965675536871, + 1.1556942804867216 + ], + "current_z": 1.1556942804867216, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2991077134735113, + "gripper_z": 1.149026156624218, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25578513917822154, + 0.196590812149029, + 1.149026156624218 + ], + "object_minus_gripper": [ + 0.004748524207225879, + 0.004905755404658124, + 0.006668123862503705 + ], + "object_to_gripper_xy": 0.006827511862819614, + "object_to_gripper_z": 0.006668123862503705, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2605336633854474, + 0.17774199952368744, + 1.1556942804867216 + ], + "finger_b": [ + 0.24932152426598886, + 0.2014965675536871, + 1.1556942804867216 + ], + "finger_midpoint": [ + 0.25492759382571817, + 0.1896192835386873, + 1.1556942804867216 + ], + "object_minus_finger_midpoint": [ + 0.005606069559729254, + 0.011877284014999823, + 0.0 + ], + "finger_gap": 0.026267690532781437, + "fingertip_max_gap": 0.0901102669736688, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013133845266390694, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1556942804867216, + "object_top_z": 1.2011501496316779, + "finger_top_clearance": 0.04545586914495625, + "fingertip_min_top_clearance": 0.013636760743486909, + "object_projection_between_fingers": 0.8178063764223172, + "object_to_finger_line_xy": 0.010139434265932636, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047555133486834406, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4503290915100254, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 355, + "max_stable_success_frames": 355, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33585312968830094, + -0.3579134708420004, + 0.8470195848353461 + ], + "target_position": [ + 0.328835967202887, + -0.3591776710829491, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007130131246752451, + "xy_threshold": 0.08, + "gripper_dist": 0.18590452375898955, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195848353461, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531188197873552, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08624966001638672, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15482955409123944, + "release_required_pad_clearance": 0.05312483000819336, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2759292418484562, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008521854877471924, + "max_z_decrease": 0.008521854877471924, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034991732171609856, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008521854877471924, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021230807076271136, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008521854877471924, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008521934272102407, + "max_button_displacement": 0.12, + "button_start": [ + 0.1845358908176422, + -0.4154391288757324, + 0.7768088579177856 + ], + "button_final": [ + 0.1845358908176422, + -0.4154391288757324, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1847740015257782, + -0.4150929274537964, + 0.8032763990044751 + ], + "closest_button": [ + 0.18451879918575287, + -0.41540655493736267, + 0.7682870030403137 + ], + "closest_ee_minus_button": [ + 0.0002552023400253234, + 0.0003136274835662811, + 0.034989395964161396 + ], + "button_min_z_position": [ + 0.18451879918575287, + -0.41540655493736267, + 0.7682870030403137 + ], + "min_active_finger_to_button": 0.14566859941949806, + "closest_active_finger": [ + 0.056870996952056885, + -0.47618567943573, + 0.8079236149787903 + ], + "closest_active_finger_button": [ + 0.18454790115356445, + -0.41544485092163086, + 0.7728736400604248 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12767690420150757, + -0.06074082851409912, + 0.03504997491836548 + ], + "min_contact_pad_to_button": 0.021230807076271136, + "closest_contact_pad": [ + 0.18451879918575287, + -0.4164697021111215, + 0.7894911744977599 + ], + "closest_contact_pad_button": [ + 0.18451879918575287, + -0.41540655493736267, + 0.7682870030403137 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010631471737588272, + 0.02120417145744613 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe0ddea7d20531aaeec3ac21edae2d0c2151e10bb947bb3d35ca4a892d4a0e2c", + "visual_seed": 4359661808881008936, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..144a6f0433f82e7b1fd344b2dc4bb54d0e1be925 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2653755348906177, + 0.20494426249187045, + 1.155495252830183 + ], + "current_z": 1.155495252830183, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2989087454216174, + "gripper_z": 1.1487434166616002, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26053130517023215, + 0.20006835024348008, + 1.1487434166616002 + ], + "object_minus_gripper": [ + 0.004844229720385562, + 0.004875912248390374, + 0.00675183616858277 + ], + "object_to_gripper_xy": 0.006873214810979652, + "object_to_gripper_z": 0.00675183616858277, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2653755348906177, + 0.18104413860919394, + 1.155495252830183 + ], + "finger_b": [ + 0.25429528106447696, + 0.20494426249187045, + 1.155495252830183 + ], + "finger_midpoint": [ + 0.25983540797754734, + 0.19299420055053218, + 1.155495252830183 + ], + "object_minus_finger_midpoint": [ + 0.005540126913070376, + 0.01195006194133827, + 0.0 + ], + "finger_gap": 0.02634365097056577, + "fingertip_max_gap": 0.09012688804033639, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013171825485282899, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.155495252830183, + "object_top_z": 1.2009704720443088, + "finger_top_clearance": 0.045475219214125895, + "fingertip_min_top_clearance": 0.013642565764237734, + "object_projection_between_fingers": 0.823091992478919, + "object_to_finger_line_xy": 0.010052495737669457, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0475634440201682, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.548156863856937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33279318585090356, + -0.35820138341221236, + 0.8470190712832164 + ], + "target_position": [ + 0.32587012720661085, + -0.3594800092571505, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0070401438226544676, + "xy_threshold": 0.08, + "gripper_dist": 0.18678283366066928, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470190712832164, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754480284449918, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08584371372747106, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15510723926721404, + "release_required_pad_clearance": 0.05292185686373553, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8766900248563321, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008472442626953125, + "max_z_decrease": 0.008472442626953125, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500279962724463, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008472442626953125, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02102060527298622, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008472442626953125, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008472478974453766, + "max_button_displacement": 0.12, + "button_start": [ + 0.1815700531005859, + -0.41574147343635554, + 0.7768088579177856 + ], + "button_final": [ + 0.1815700531005859, + -0.41574147343635554, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18052933226476908, + -0.41569272145740893, + 0.8036912885719353 + ], + "closest_button": [ + 0.1815589070320129, + -0.4157119691371918, + 0.7687036395072937 + ], + "closest_ee_minus_button": [ + -0.0010295747672438293, + 1.9247679782841143e-05, + 0.03498764906464158 + ], + "button_min_z_position": [ + 0.1815587878227234, + -0.4157193601131439, + 0.7683364152908325 + ], + "min_active_finger_to_button": 0.14674376456283034, + "closest_active_finger": [ + 0.05395824462175369, + -0.479460209608078, + 0.8108027577400208 + ], + "closest_active_finger_button": [ + 0.1815734952688217, + -0.4157431721687317, + 0.7763321995735168 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.127615250647068, + -0.06371703743934631, + 0.034470558166503906 + ], + "min_contact_pad_to_button": 0.02102060527298622, + "closest_contact_pad": [ + 0.1815587878227234, + -0.41678086433734146, + 0.789330201391122 + ], + "closest_contact_pad_button": [ + 0.1815587878227234, + -0.4157193601131439, + 0.7683364152908325 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010615042241975403, + 0.020993786100289458 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c738cac0cd8e7f0ac6cac08c06e63febf8373f7e84044e513ba2d93b988d81f1", + "visual_seed": 706428294200825883, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e30a5bef756390aceb2c7101d5c3c8ba2f1b5e6a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26888985076995875, + 0.20417744408308422, + 1.1565012858489778 + ], + "current_z": 1.1565012858489778, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2999147188357675, + "gripper_z": 1.1496372085868596, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26413383400981205, + 0.199390109168259, + 1.1496372085868596 + ], + "object_minus_gripper": [ + 0.004756016760146697, + 0.00478733491482522, + 0.00686407726211824 + ], + "object_to_gripper_xy": 0.006748205021300174, + "object_to_gripper_z": 0.00686407726211824, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26888985076995875, + 0.18023950189441515, + 1.1565012858489778 + ], + "finger_b": [ + 0.25806488531242844, + 0.20417744408308422, + 1.1565012858489778 + ], + "finger_midpoint": [ + 0.2634773680411936, + 0.19220847298874968, + 1.1565012858489778 + ], + "object_minus_finger_midpoint": [ + 0.005412482728765156, + 0.011968971094334535, + 0.0 + ], + "finger_gap": 0.02627175200447787, + "fingertip_max_gap": 0.09021585714245417, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013135876002238934, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1565012858489778, + "object_top_z": 1.2019826105905793, + "finger_top_clearance": 0.04548132474160149, + "fingertip_min_top_clearance": 0.013644397422480447, + "object_projection_between_fingers": 0.8302245201485868, + "object_to_finger_line_xy": 0.009863346657373031, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04760792857122709, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.44262941427822117, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33918968457836707, + -0.3617399278815492, + 0.847019806950039 + ], + "target_position": [ + 0.3318025336430598, + -0.36347690853305603, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007588616522444684, + "xy_threshold": 0.08, + "gripper_dist": 0.18694148240672634, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019806950039, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754390316106291, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1554142369152593, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008512020111083984, + "max_z_decrease": 0.008512020111083984, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510471081063715, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008512020111083984, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02108767141674961, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008512020111083984, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00851209845828066, + "max_button_displacement": 0.12, + "button_start": [ + 0.18750245869159693, + -0.4197383522987366, + 0.7768088579177856 + ], + "button_final": [ + 0.18750245869159693, + -0.4197383522987366, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18891288336614934, + -0.41740650635575965, + 0.8032960085868017 + ], + "closest_button": [ + 0.18747434020042417, + -0.4197150468826294, + 0.7682968378067017 + ], + "closest_ee_minus_button": [ + 0.0014385431657251702, + 0.00230854052686974, + 0.034999170780100064 + ], + "button_min_z_position": [ + 0.18747434020042417, + -0.4197150468826294, + 0.7682968378067017 + ], + "min_active_finger_to_button": 0.14371141239208526, + "closest_active_finger": [ + 0.06260470300912857, + -0.4817819595336914, + 0.8077324032783508 + ], + "closest_active_finger_button": [ + 0.18751506507396695, + -0.41974425315856934, + 0.7730669379234314 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12491036206483838, + -0.06203770637512207, + 0.034665465354919434 + ], + "min_contact_pad_to_button": 0.02108767141674961, + "closest_contact_pad": [ + 0.18747434020042417, + -0.4197150468826294, + 0.7893845092234513 + ], + "closest_contact_pad_button": [ + 0.18747434020042417, + -0.4197150468826294, + 0.7682968378067017 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02108767141674961 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bf4f62f8dbf9f8c902e9319cfec7832a52bb631f93c9ac6f931faec956744946", + "visual_seed": 4313516474995929526, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5bf9eae24265d98fbda06d99ce8dbe076fd3b8fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26643849561884303, + 0.20069180904585157, + 1.156753190194865 + ], + "current_z": 1.156753190194865, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3001667423909443, + "gripper_z": 1.1499857719097966, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26160862704263993, + 0.19579561231977516, + 1.1499857719097966 + ], + "object_minus_gripper": [ + 0.0048298685762031, + 0.004896196726076413, + 0.006767418285068549 + ], + "object_to_gripper_xy": 0.006877526651626699, + "object_to_gripper_z": 0.006767418285068549, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26643849561884303, + 0.17682519284897955, + 1.156753190194865 + ], + "finger_b": [ + 0.25530693350191824, + 0.20069180904585157, + 1.156753190194865 + ], + "finger_midpoint": [ + 0.26087271456038064, + 0.18875850094741556, + 1.156753190194865 + ], + "object_minus_finger_midpoint": [ + 0.0055657810584623935, + 0.011933308098436013, + 0.0 + ], + "finger_gap": 0.026334901629809615, + "fingertip_max_gap": 0.0899672728867556, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013167450814904808, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156753190194865, + "object_top_z": 1.2022333141858728, + "finger_top_clearance": 0.04548012399100765, + "fingertip_min_top_clearance": 0.013644037197302294, + "object_projection_between_fingers": 0.8213311560645603, + "object_to_finger_line_xy": 0.010088236684945783, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0474836364433778, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5107628645487974, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.34229550380367846, + -0.3600674215491518, + 0.8470198665546838 + ], + "target_position": [ + 0.3349191030772961, + -0.3617959308240631, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007576214885391547, + "xy_threshold": 0.08, + "gripper_dist": 0.18536845540053673, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198665546838, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530185606108085, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15437113002485453, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008562624454498291, + "max_z_decrease": 0.008562624454498291, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505068193421301, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008562624454498291, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021277953112320017, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008562624454498291, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008562890968787935, + "max_button_displacement": 0.12, + "button_start": [ + 0.19061902165412897, + -0.41805738210678106, + 0.7768088579177856 + ], + "button_final": [ + 0.19061902165412897, + -0.41805738210678106, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18896541475698414, + -0.4196128734912961, + 0.8034671103210289 + ], + "closest_button": [ + 0.19057382643222806, + -0.41804513335227966, + 0.7684884667396545 + ], + "closest_ee_minus_button": [ + -0.0016084116752439204, + -0.0015677401390164492, + 0.03497864358137437 + ], + "button_min_z_position": [ + 0.19056363403797147, + -0.41801869869232183, + 0.7682462334632874 + ], + "min_active_finger_to_button": 0.1473701105668705, + "closest_active_finger": [ + 0.04811861366033554, + -0.4041230082511902, + 0.8078852891921997 + ], + "closest_active_finger_button": [ + 0.19063049554824824, + -0.41806399822235113, + 0.7730433344841003 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1425118818879127, + 0.013940989971160944, + 0.034841954708099365 + ], + "min_contact_pad_to_button": 0.021277953112320017, + "closest_contact_pad": [ + 0.19056363403797147, + -0.4206876596426453, + 0.7893561348390811 + ], + "closest_contact_pad_button": [ + 0.19056363403797147, + -0.41801869869232183, + 0.7682462334632874 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026689609503234846, + 0.021109901375793716 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7c07f263255ebb926db26f83a99abbedf9250d454430c4e4b6b81e0f6e90aec9", + "visual_seed": 1570922144360740946, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..11f347113312aaaebb5343bbf760d85045a5e58d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26729958660109654, + 0.2010598349020288, + 1.1573331825196027 + ], + "current_z": 1.1573331825196027, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3007467347156819, + "gripper_z": 1.1505524606727822, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26237530689580957, + 0.1963495291004699, + 1.1505524606727822 + ], + "object_minus_gripper": [ + 0.004924279705286971, + 0.0047103058015589006, + 0.006780721846820548 + ], + "object_to_gripper_xy": 0.006814360671413025, + "object_to_gripper_z": 0.006780721846820548, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26729958660109654, + 0.17685066664893306, + 1.1573331825196027 + ], + "finger_b": [ + 0.2568052825494408, + 0.2010598349020288, + 1.1573331825196027 + ], + "finger_midpoint": [ + 0.26205243457526867, + 0.18895525077548092, + 1.1573331825196027 + ], + "object_minus_finger_midpoint": [ + 0.0052471520258278725, + 0.012104584126547885, + 0.0 + ], + "finger_gap": 0.026385872072669816, + "fingertip_max_gap": 0.09020327449321613, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01319293603633492, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1573331825196027, + "object_top_z": 1.2027923534233476, + "finger_top_clearance": 0.04545917090374485, + "fingertip_min_top_clearance": 0.013637751271123455, + "object_projection_between_fingers": 0.8418153344118737, + "object_to_finger_line_xy": 0.009628575920703764, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04760163724660807, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.42476871251633525, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 358, + "max_stable_success_frames": 358, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3393843529932485, + -0.3523134003588586, + 0.8470195036416492 + ], + "target_position": [ + 0.33142614163923984, + -0.3540803749618635, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008152013690048398, + "xy_threshold": 0.08, + "gripper_dist": 0.18775327313927728, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195036416492, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519244691333353, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08692784305117977, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1568075618908261, + "release_required_pad_clearance": 0.05346392152558989, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9411134350392052, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008400559425354004, + "max_z_decrease": 0.008400559425354004, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035041910404114425, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008400559425354004, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02102518531149944, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008400559425354004, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008400609122207275, + "max_button_displacement": 0.12, + "button_start": [ + 0.1871260702610016, + -0.4103418290615082, + 0.7768088579177856 + ], + "button_final": [ + 0.1871260702610016, + -0.4103418290615082, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18559010436636036, + -0.4088386824030223, + 0.8033838176590744 + ], + "closest_button": [ + 0.18715055286884308, + -0.41032648086547846, + 0.7684082984924316 + ], + "closest_ee_minus_button": [ + -0.0015604485024827142, + 0.001487798462456169, + 0.034975519166642766 + ], + "button_min_z_position": [ + 0.18715055286884308, + -0.41032648086547846, + 0.7684082984924316 + ], + "min_active_finger_to_button": 0.14657161907766178, + "closest_active_finger": [ + 0.05941912531852722, + -0.47341567277908325, + 0.8097490072250366 + ], + "closest_active_finger_button": [ + 0.1871318221092224, + -0.4103450179100036, + 0.7751831412315369 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277126967906952, + -0.06307065486907965, + 0.034565865993499756 + ], + "min_contact_pad_to_button": 0.02102518531149944, + "closest_contact_pad": [ + 0.18715055286884308, + -0.41032648086547846, + 0.7894334838039311 + ], + "closest_contact_pad_button": [ + 0.18715055286884308, + -0.41032648086547846, + 0.7684082984924316 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02102518531149944 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01eb07df7005980f48ccd6b9fb5f92897165978e1c3b9fe0c35091deafc83ec8", + "visual_seed": 1194864759153103854, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..79135d1233dc5398d8668e8bb38835a24632de66 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2625981502298957, + 0.20931821619479113, + 1.1559202217558608 + ], + "current_z": 1.1559202217558608, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2993337143472953, + "gripper_z": 1.1490657798863886, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25801610819280674, + 0.20447113204395817, + 1.1490657798863886 + ], + "object_minus_gripper": [ + 0.004582042037088951, + 0.004847084150832959, + 0.006854441869472261 + ], + "object_to_gripper_xy": 0.006670032533271958, + "object_to_gripper_z": 0.006854441869472261, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2625981502298957, + 0.18566264035903432, + 1.1559202217558608 + ], + "finger_b": [ + 0.25149136610991424, + 0.20931821619479113, + 1.1559202217558608 + ], + "finger_midpoint": [ + 0.25704475816990496, + 0.1974904282769127, + 1.1559202217558608 + ], + "object_minus_finger_midpoint": [ + 0.005553392059990725, + 0.011827787917878418, + 0.0 + ], + "finger_gap": 0.026133253176922187, + "fingertip_max_gap": 0.09026755387284502, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013066626588461106, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1559202217558608, + "object_top_z": 1.2013657003432059, + "finger_top_clearance": 0.045445478587345045, + "fingertip_min_top_clearance": 0.013633643576203513, + "object_projection_between_fingers": 0.8193700716928074, + "object_to_finger_line_xy": 0.01005375688448999, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04763377693642251, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3546026173457661, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33592754963099847, + -0.3570285416978885, + 0.8470194811152969 + ], + "target_position": [ + 0.3287484666283455, + -0.35838023099605615, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007305223933443905, + "xy_threshold": 0.08, + "gripper_dist": 0.18721656518842025, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194811152969, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529863410239011, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08634088843988778, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15605743817656667, + "release_required_pad_clearance": 0.053170444219943894, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3619745140929296, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008532404899597168, + "max_z_decrease": 0.008532404899597168, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500103770505502, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008532404899597168, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020989671411593643, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008532404899597168, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008532457233949069, + "max_button_displacement": 0.12, + "button_start": [ + 0.1844483911991119, + -0.4146416783332824, + 0.7768088579177856 + ], + "button_final": [ + 0.1844483911991119, + -0.4146416783332824, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18350178920044743, + -0.4148248049663266, + 0.8036336345731361 + ], + "closest_button": [ + 0.18444094061851496, + -0.41460606455802906, + 0.7686458826065063 + ], + "closest_ee_minus_button": [ + -0.0009391514180675242, + -0.00021874040829755748, + 0.03498775196662973 + ], + "button_min_z_position": [ + 0.18444037437438962, + -0.4146128892898559, + 0.7682764530181885 + ], + "min_active_finger_to_button": 0.14668637566956988, + "closest_active_finger": [ + 0.04250296205282211, + -0.40127885341644287, + 0.8101504445075989 + ], + "closest_active_finger_button": [ + 0.18445245921611783, + -0.4146447777748107, + 0.77567458152771 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14194949716329572, + 0.013365924358367809, + 0.034475862979888916 + ], + "min_contact_pad_to_button": 0.020989671411593643, + "closest_contact_pad": [ + 0.18444037437438962, + -0.41576227807840854, + 0.7892346306913408 + ], + "closest_contact_pad_button": [ + 0.18444037437438962, + -0.4146128892898559, + 0.7682764530181885 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001149388788552641, + 0.020958177673152334 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "27011a338587787159a722948a174812be8a453a0b3ec870e0352083242ca289", + "visual_seed": 601170352336300325, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f0922d3910e6047e2f3c1e76ceb26dc2488a167 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2701180778985811, + 0.20668205645843213, + 1.1584679047139133 + ], + "current_z": 1.1584679047139133, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3018813377007029, + "gripper_z": 1.1515908374562895, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.265287490854079, + 0.20200718641669743, + 1.1515908374562895 + ], + "object_minus_gripper": [ + 0.0048305870445021215, + 0.004674870041734697, + 0.006877067257623715 + ], + "object_to_gripper_xy": 0.006722274994495562, + "object_to_gripper_z": 0.006877067257623715, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2701180778985811, + 0.18257894420580387, + 1.1584679047139133 + ], + "finger_b": [ + 0.2596152275376935, + 0.20668205645843213, + 1.1584679047139133 + ], + "finger_midpoint": [ + 0.2648666527181373, + 0.19463050033211798, + 1.1584679047139133 + ], + "object_minus_finger_midpoint": [ + 0.005251425180443803, + 0.012051556126314145, + 0.0 + ], + "finger_gap": 0.026292011828043808, + "fingertip_max_gap": 0.09035639677781643, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013146005914021916, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1584679047139133, + "object_top_z": 1.203936502267899, + "finger_top_clearance": 0.04546859755398569, + "fingertip_min_top_clearance": 0.013640579266195673, + "object_projection_between_fingers": 0.8404243148115045, + "object_to_finger_line_xy": 0.009628452279601248, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047678198388908216, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4408699687619763, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3342941152552823, + -0.3598693076442568, + 0.8470195270822022 + ], + "target_position": [ + 0.32663934229382185, + -0.3617319702353445, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007878138169627605, + "xy_threshold": 0.08, + "gripper_dist": 0.18681410186372185, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195270822022, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562246609855204, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08553958332133114, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15489083095389047, + "release_required_pad_clearance": 0.052769791660665574, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5881717847109258, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008535444736480713, + "max_z_decrease": 0.008535444736480713, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503194235189085, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008535444736480713, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0209779242901027, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008535444736480713, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008535545351803077, + "max_button_displacement": 0.12, + "button_start": [ + 0.18233926594257352, + -0.41799342632293696, + 0.7768088579177856 + ], + "button_final": [ + 0.18233926594257352, + -0.41799342632293696, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18110794709888792, + -0.4164180967745171, + 0.803247988958963 + ], + "closest_button": [ + 0.18237429857254026, + -0.4179712831974029, + 0.7682734131813049 + ], + "closest_ee_minus_button": [ + -0.0012663514736523385, + 0.0015531864228858216, + 0.03497457577765806 + ], + "button_min_z_position": [ + 0.18237429857254026, + -0.4179712831974029, + 0.7682734131813049 + ], + "min_active_finger_to_button": 0.14625404956565108, + "closest_active_finger": [ + 0.05450593680143356, + -0.4801015853881836, + 0.8107373714447021 + ], + "closest_active_finger_button": [ + 0.18234397470951075, + -0.4179970920085907, + 0.7762306332588196 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12783803790807718, + -0.062104493379592896, + 0.03450673818588257 + ], + "min_contact_pad_to_button": 0.0209779242901027, + "closest_contact_pad": [ + 0.18237429857254026, + -0.4179712831974029, + 0.7892513374714076 + ], + "closest_contact_pad_button": [ + 0.18237429857254026, + -0.4179712831974029, + 0.7682734131813049 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0209779242901027 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "85612afdfb32579f4af0e1b63c641ee89590597f8dbb7941d80a9e402658036b", + "visual_seed": 8895936452159774408, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bed5ec8dd0d292cf9200c030a9840249b45b6914 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26722394558552665, + 0.20052560757676527, + 1.157031635390948 + ], + "current_z": 1.157031635390948, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.300445247191672, + "gripper_z": 1.1503612759176125, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26231915430824204, + 0.19562260932130238, + 1.1503612759176125 + ], + "object_minus_gripper": [ + 0.004904791277284604, + 0.004902998255462893, + 0.0066703594733354965 + ], + "object_to_gripper_xy": 0.006935154602948611, + "object_to_gripper_z": 0.0066703594733354965, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26722394558552665, + 0.17652739641245652, + 1.157031635390948 + ], + "finger_b": [ + 0.2561835256940177, + 0.20052560757676527, + 1.157031635390948 + ], + "finger_midpoint": [ + 0.2617037356397722, + 0.1885265019946109, + 1.157031635390948 + ], + "object_minus_finger_midpoint": [ + 0.005520209945754473, + 0.011999105582154362, + 0.0 + ], + "finger_gap": 0.026415999138165863, + "fingertip_max_gap": 0.09004536357317117, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01320799956908292, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157031635390948, + "object_top_z": 1.202526062567585, + "finger_top_clearance": 0.0454944271766371, + "fingertip_min_top_clearance": 0.013648328152991163, + "object_projection_between_fingers": 0.8253224474568466, + "object_to_finger_line_xy": 0.01002991885763149, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047522681786585586, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5403927561349497, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3349439828475711, + -0.35230241463700585, + 0.8470195908415403 + ], + "target_position": [ + 0.32764952693420346, + -0.35382006802703403, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007450661640708704, + "xy_threshold": 0.08, + "gripper_dist": 0.1841391021960045, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195908415403, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752853910798467, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08570160926553881, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15308488052301739, + "release_required_pad_clearance": 0.05285080463276941, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7444063144072114, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008227288722991943, + "max_z_decrease": 0.008227288722991943, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499906769495782, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008227288722991943, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021247862376806134, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008227288722991943, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008227350114767574, + "max_button_displacement": 0.12, + "button_start": [ + 0.18334946036338806, + -0.41008153557777405, + 0.7768088579177856 + ], + "button_final": [ + 0.18334946036338806, + -0.41008153557777405, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18292093392803133, + -0.40984742423478665, + 0.8076276696475971 + ], + "closest_button": [ + 0.1833387166261673, + -0.4100822806358337, + 0.7726318836212158 + ], + "closest_ee_minus_button": [ + -0.00041778269813597113, + 0.00023485640104703442, + 0.034995786026381315 + ], + "button_min_z_position": [ + 0.18331801891326904, + -0.4100768864154815, + 0.7685815691947937 + ], + "min_active_finger_to_button": 0.14661361729494501, + "closest_active_finger": [ + 0.05462997406721115, + -0.47092899680137634, + 0.8080940246582031 + ], + "closest_active_finger_button": [ + 0.18336106836795807, + -0.4100874662399292, + 0.7731345295906067 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12873109430074692, + -0.060841530561447144, + 0.034959495067596436 + ], + "min_contact_pad_to_button": 0.021247862376806134, + "closest_contact_pad": [ + 0.18331801891326904, + -0.41114748265017426, + 0.7898024428640363 + ], + "closest_contact_pad_button": [ + 0.18331801891326904, + -0.4100768864154815, + 0.7685815691947937 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010705962346927445, + 0.021220873669242635 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5f514f631dfea9d915542aec81a6ca2be3a75347579edaaf81dca8c5eba7c875", + "visual_seed": 4057762358775081357, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f3dd78773da71044b3a016bd3dfddb9ac3d336c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2667586587809976, + 0.20340931984451516, + 1.1575218735199342 + ], + "current_z": 1.1575218735199342, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.3009354257160133, + "gripper_z": 1.1507967997398896, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26184264228709864, + 0.19850866515300475, + 1.1507967997398896 + ], + "object_minus_gripper": [ + 0.004916016493898945, + 0.004900654691510409, + 0.00672507378004461 + ], + "object_to_gripper_xy": 0.006941443263018827, + "object_to_gripper_z": 0.00672507378004461, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2667586587809976, + 0.1794164873393301, + 1.1575218735199342 + ], + "finger_b": [ + 0.2556955029340571, + 0.20340931984451516, + 1.1575218735199342 + ], + "finger_midpoint": [ + 0.2612270808575273, + 0.19141290359192265, + 1.1575218735199342 + ], + "object_minus_finger_midpoint": [ + 0.0055315779234702545, + 0.011996416252592512, + 0.0 + ], + "finger_gap": 0.026420625066707986, + "fingertip_max_gap": 0.09014547801538358, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013210312533353981, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1575218735199342, + "object_top_z": 1.2030215379309273, + "finger_top_clearance": 0.04549966441099307, + "fingertip_min_top_clearance": 0.01364989932329792, + "object_projection_between_fingers": 0.8246636810750837, + "object_to_finger_line_xy": 0.010046561901704333, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047572739007691794, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.568522145127232, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3347632734822641, + -0.357851409021515, + 0.847019748085874 + ], + "target_position": [ + 0.3274685077552538, + -0.3595261512388352, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007484541970383898, + "xy_threshold": 0.08, + "gripper_dist": 0.18571573060145194, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019748085874, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551079693750577, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554995632236072, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15413144347049748, + "release_required_pad_clearance": 0.05277497816118036, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.597413608622333, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008519470691680908, + "max_z_decrease": 0.008519470691680908, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034990368517538575, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008519470691680908, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021105730986121823, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008519470691680908, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008519507540420466, + "max_button_displacement": 0.12, + "button_start": [ + 0.18316844105720514, + -0.4157876074314117, + 0.7768088579177856 + ], + "button_final": [ + 0.18316844105720514, + -0.4157876074314117, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18247809904769233, + -0.41576843472791347, + 0.8032728430955559 + ], + "closest_button": [ + 0.18317356705665583, + -0.41576308012008667, + 0.7682893872261047 + ], + "closest_ee_minus_button": [ + -0.0006954680089635012, + -5.3546078268018604e-06, + 0.034983455869451174 + ], + "button_min_z_position": [ + 0.18317356705665583, + -0.41576308012008667, + 0.7682893872261047 + ], + "min_active_finger_to_button": 0.14650933364111396, + "closest_active_finger": [ + 0.05540100485086441, + -0.47854387760162354, + 0.8085930943489075 + ], + "closest_active_finger_button": [ + 0.18317617475986475, + -0.41579109430313105, + 0.7739437222480774 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12777516990900034, + -0.06275278329849249, + 0.03464937210083008 + ], + "min_contact_pad_to_button": 0.021105730986121823, + "closest_contact_pad": [ + 0.18317356705665583, + -0.41696994098413986, + 0.7893605848027343 + ], + "closest_contact_pad_button": [ + 0.18317356705665583, + -0.41576308012008667, + 0.7682893872261047 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012068608640531941, + 0.021071197576629563 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e5da655d27178b409a31e8360dafc68535261752b788f9edf3824eb872e5ba2e", + "visual_seed": 6193476803390910921, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..887cf2e65ececf70ba7e5d3aade9e0bd938436d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2612294640245243, + 0.20554282957181366, + 1.1585802285586546 + ], + "current_z": 1.1585802285586546, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.3019938403593786, + "gripper_z": 1.1519280177769922, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25635894813589377, + 0.20078759983829356, + 1.1519280177769922 + ], + "object_minus_gripper": [ + 0.004870515888630522, + 0.0047552297335201055, + 0.006652210781662449 + ], + "object_to_gripper_xy": 0.006806918160221707, + "object_to_gripper_z": 0.006652210781662449, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2612294640245243, + 0.1814054620751068, + 1.1585802285586546 + ], + "finger_b": [ + 0.25060584157699894, + 0.20554282957181366, + 1.1585802285586546 + ], + "finger_midpoint": [ + 0.2559176528007616, + 0.19347414582346023, + 1.1585802285586546 + ], + "object_minus_finger_midpoint": [ + 0.005311811223762675, + 0.012068683748353431, + 0.0 + ], + "finger_gap": 0.026371838456555233, + "fingertip_max_gap": 0.09013506180587669, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013185919228277616, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1585802285586546, + "object_top_z": 1.2040943196822433, + "finger_top_clearance": 0.04551409112358873, + "fingertip_min_top_clearance": 0.013654227337076651, + "object_projection_between_fingers": 0.8377202080221641, + "object_to_finger_line_xy": 0.009723488924923383, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047567530902938346, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5644386047600236, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33328505813418435, + -0.3567995947541448, + 0.8470195573684791 + ], + "target_position": [ + 0.3258593676457451, + -0.35843328532318836, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007603277195096819, + "xy_threshold": 0.08, + "gripper_dist": 0.18473927109410973, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195573684791, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522636203093253, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08590273683629722, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15390236886602482, + "release_required_pad_clearance": 0.05295136841814861, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9387783790112988, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008502781391143799, + "max_z_decrease": 0.008502781391143799, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035024404207582766, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008502781391143799, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021260200523886476, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008502781391143799, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008502895369970611, + "max_button_displacement": 0.12, + "button_start": [ + 0.18155929446220395, + -0.4146947562694549, + 0.7768088579177856 + ], + "button_final": [ + 0.18155929446220395, + -0.4146947562694549, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1829053778254663, + -0.41508781770587516, + 0.8033009737987772 + ], + "closest_button": [ + 0.18153341114521024, + -0.41465914249420166, + 0.7683060765266418 + ], + "closest_ee_minus_button": [ + 0.0013719666802560482, + -0.00042867521167350153, + 0.03499489727213534 + ], + "button_min_z_position": [ + 0.18153341114521024, + -0.41465914249420166, + 0.7683060765266418 + ], + "min_active_finger_to_button": 0.14457573798647175, + "closest_active_finger": [ + 0.04236859828233719, + -0.397318959236145, + 0.8078501224517822 + ], + "closest_active_finger_button": [ + 0.1815730184316635, + -0.41469874978065485, + 0.7728899121284485 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13920442014932632, + 0.017379790544509832, + 0.03496021032333374 + ], + "min_contact_pad_to_button": 0.021260200523886476, + "closest_contact_pad": [ + 0.18153341114521024, + -0.41642254513985694, + 0.7894930191429128 + ], + "closest_contact_pad_button": [ + 0.18153341114521024, + -0.41465914249420166, + 0.7683060765266418 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017634026456552765, + 0.021186942616270965 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bb58540b9885b0b59bb2b1f8e6ee76f30161334176fc0ef1dc168273eb846fe2", + "visual_seed": 2791316482891568440, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b87c25d8a53ed9cc1f99e4fd712cdf28b1e59bd7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2621054310413723, + 0.20433213159556743, + 1.156744853340427 + ], + "current_z": 1.156744853340427, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.3001583459318613, + "gripper_z": 1.14992350715415, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2574176567905162, + 0.19953110256856998, + 1.14992350715415 + ], + "object_minus_gripper": [ + 0.0046877742508560916, + 0.004801029026997444, + 0.006821346186276944 + ], + "object_to_gripper_xy": 0.006710075047647486, + "object_to_gripper_z": 0.006821346186276944, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2621054310413723, + 0.18055559772460872, + 1.156744853340427 + ], + "finger_b": [ + 0.25111509205713656, + 0.20433213159556743, + 1.156744853340427 + ], + "finger_midpoint": [ + 0.2566102615492544, + 0.19244386466008806, + 1.156744853340427 + ], + "object_minus_finger_midpoint": [ + 0.005495169492117868, + 0.011888266935479369, + 0.0 + ], + "finger_gap": 0.026193722795839057, + "fingertip_max_gap": 0.09010309989633891, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01309686139791954, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156744853340427, + "object_top_z": 1.2022226668541538, + "finger_top_clearance": 0.04547781351372682, + "fingertip_min_top_clearance": 0.013643344054118045, + "object_projection_between_fingers": 0.823953367697392, + "object_to_finger_line_xy": 0.009976136998499101, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04755154994816946, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5289557791754176, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33318404839826654, + -0.35808108633656277, + 0.8470197064490458 + ], + "target_position": [ + 0.3266809671683287, + -0.35923021803849337, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006603829885116069, + "xy_threshold": 0.08, + "gripper_dist": 0.18734093572873317, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197064490458, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581092110283685, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08525148376246015, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15474351553293633, + "release_required_pad_clearance": 0.05262574188123008, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.31153200924082347, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008533954620361328, + "max_z_decrease": 0.008533954620361328, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034953077171457805, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008533954620361328, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021174377770115434, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008533954620361328, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008534052716068847, + "max_button_displacement": 0.12, + "button_start": [ + 0.1823808997869491, + -0.41549167037010193, + 0.7768088579177856 + ], + "button_final": [ + 0.1823808997869491, + -0.41549167037010193, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18163932634097502, + -0.41643353817200673, + 0.8035019966350734 + ], + "closest_button": [ + 0.1823990792036056, + -0.41548675298690796, + 0.7685700058937073 + ], + "closest_ee_minus_button": [ + -0.0007597528626305805, + -0.0009467851850987752, + 0.034931990741366103 + ], + "button_min_z_position": [ + 0.1823464334011077, + -0.41546961665153503, + 0.7682749032974243 + ], + "min_active_finger_to_button": 0.14654179425325017, + "closest_active_finger": [ + 0.040936753153800964, + -0.39953354001045227, + 0.8076167106628418 + ], + "closest_active_finger_button": [ + 0.18239201605319968, + -0.4155000150203705, + 0.7728319764137268 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14145526289939872, + 0.015966475009918213, + 0.03478473424911499 + ], + "min_contact_pad_to_button": 0.021174377770115434, + "closest_contact_pad": [ + 0.1823990792036056, + -0.4176884259224019, + 0.7896296096467856 + ], + "closest_contact_pad_button": [ + 0.1823990792036056, + -0.41548675298690796, + 0.7685700058937073 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002201672935493948, + 0.02105960375307836 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1a1b12e0546e2c88478192c689b7e90b800166faa3ef7faba7deff65b8175e93", + "visual_seed": 1159126333552018470, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b5ace845518e7e3f3857b648bdf70fb1ecf66223 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.264192515782842, + 0.20237220880767717, + 1.157123767987318 + ], + "current_z": 1.157123767987318, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.30053720097410763, + "gripper_z": 1.1502801338200035, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25956472876568043, + 0.19753507848536253, + 1.1502801338200035 + ], + "object_minus_gripper": [ + 0.004627787017161544, + 0.004837130322314642, + 0.006843634167314594 + ], + "object_to_gripper_xy": 0.006694344062808895, + "object_to_gripper_z": 0.006843634167314594, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.264192515782842, + 0.1787076037254264, + 1.157123767987318 + ], + "finger_b": [ + 0.2530601812671752, + 0.20237220880767717, + 1.157123767987318 + ], + "finger_midpoint": [ + 0.2586263485250086, + 0.1905399062665518, + 1.157123767987318 + ], + "object_minus_finger_midpoint": [ + 0.0055661672578333765, + 0.011832302541125383, + 0.0 + ], + "finger_gap": 0.026152292547071167, + "fingertip_max_gap": 0.09018798766862077, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013076146273535583, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157123767987318, + "object_top_z": 1.202592572330608, + "finger_top_clearance": 0.045468804343289815, + "fingertip_min_top_clearance": 0.013640641302986945, + "object_projection_between_fingers": 0.8188021816194037, + "object_to_finger_line_xy": 0.010073392207684901, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047593993834310386, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4202209487118465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33444901608396566, + -0.354807305945114, + 0.8470195642634973 + ], + "target_position": [ + 0.32741752524225337, + -0.3562027936579832, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007168629535263528, + "xy_threshold": 0.08, + "gripper_dist": 0.1845002880539383, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195642634973, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550377881254032, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08553758812855226, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152809210628695, + "release_required_pad_clearance": 0.052768794064276134, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5868397086476892, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008324921131134033, + "max_z_decrease": 0.008324921131134033, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035015591886464054, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008324921131134033, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021167751374005533, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008324921131134033, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00832499793446909, + "max_button_displacement": 0.12, + "button_start": [ + 0.1831174492835998, + -0.4124642610549926, + 0.7768088579177856 + ], + "button_final": [ + 0.1831174492835998, + -0.4124642610549926, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18211349875794788, + -0.4114099403271971, + 0.8034704702071827 + ], + "closest_button": [ + 0.18308256566524503, + -0.4124563932418823, + 0.7684839367866516 + ], + "closest_ee_minus_button": [ + -0.0009690669072971447, + 0.0010464529146852475, + 0.03498653342053104 + ], + "button_min_z_position": [ + 0.18308256566524503, + -0.4124563932418823, + 0.7684839367866516 + ], + "min_active_finger_to_button": 0.14640795964173792, + "closest_active_finger": [ + 0.0544762909412384, + -0.47304874658584595, + 0.807884931564331 + ], + "closest_active_finger_button": [ + 0.18312869966030115, + -0.41246771812438965, + 0.7730454802513123 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12865240871906275, + -0.0605810284614563, + 0.0348394513130188 + ], + "min_contact_pad_to_button": 0.021167751374005533, + "closest_contact_pad": [ + 0.18308256566524503, + -0.41272543856537736, + 0.7896499782882083 + ], + "closest_contact_pad_button": [ + 0.18308256566524503, + -0.4124563932418823, + 0.7684839367866516 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00026904532349503185, + 0.021166041501556654 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "53f32942d49f1ad9a9f084ed8a9a7529befb93e8db529aa85f439da630c059c7", + "visual_seed": 2119972806770102216, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3276d24cbde873da74d30f26a9b8f298cd241288 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26458267364614096, + 0.19986076485805981, + 1.1584121872102222 + ], + "current_z": 1.1584121872102222, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30182562019701187, + "gripper_z": 1.1515516220628839, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2598779384681732, + 0.19507595518996676, + 1.1515516220628839 + ], + "object_minus_gripper": [ + 0.004704735177967767, + 0.004784809668093054, + 0.006860565147338349 + ], + "object_to_gripper_xy": 0.006710360396780799, + "object_to_gripper_z": 0.006860565147338349, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26458267364614096, + 0.17591970186587888, + 1.1584121872102222 + ], + "finger_b": [ + 0.2538131323874076, + 0.19986076485805981, + 1.1584121872102222 + ], + "finger_midpoint": [ + 0.25919790301677426, + 0.18789023336196936, + 1.1584121872102222 + ], + "object_minus_finger_midpoint": [ + 0.005384770629366709, + 0.011970531496090453, + 0.0 + ], + "finger_gap": 0.02625180976845474, + "fingertip_max_gap": 0.09007964049925041, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013125904884227367, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1584121872102222, + "object_top_z": 1.2038779972699196, + "finger_top_clearance": 0.04546581005969741, + "fingertip_min_top_clearance": 0.013639743017909222, + "object_projection_between_fingers": 0.8317031793011599, + "object_to_finger_line_xy": 0.009821580605160841, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047539820249625206, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4748655139623985, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3405724692348807, + -0.3579364435225834, + 0.8470194529943431 + ], + "target_position": [ + 0.333957984043621, + -0.3593957831549853, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006773557891396017, + "xy_threshold": 0.08, + "gripper_dist": 0.18516301999419693, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194529943431, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758448836143221, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08607706912279432, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15272926163929496, + "release_required_pad_clearance": 0.05303853456139716, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.10781538910764, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008397579193115234, + "max_z_decrease": 0.008397579193115234, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502575920537467, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008397579193115234, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021107211543913373, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008397579193115234, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008397591991056745, + "max_button_displacement": 0.12, + "button_start": [ + 0.18965791165828705, + -0.4156572520732879, + 0.7768088579177856 + ], + "button_final": [ + 0.18965791165828705, + -0.4156572520732879, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18853938820974073, + -0.4142850569780651, + 0.803392646599617 + ], + "closest_button": [ + 0.18966294825077062, + -0.4156434834003448, + 0.7684112787246704 + ], + "closest_ee_minus_button": [ + -0.0011235600410298974, + 0.0013584264222796794, + 0.034981367874946545 + ], + "button_min_z_position": [ + 0.18966294825077062, + -0.4156434834003448, + 0.7684112787246704 + ], + "min_active_finger_to_button": 0.1463141299108292, + "closest_active_finger": [ + 0.06198267638683319, + -0.4780929386615753, + 0.8079840540885925 + ], + "closest_active_finger_button": [ + 0.189667358994484, + -0.41566103696823115, + 0.7732464075088501 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1276846826076508, + -0.06243190169334417, + 0.03473764657974243 + ], + "min_contact_pad_to_button": 0.021107211543913373, + "closest_contact_pad": [ + 0.18966294825077062, + -0.4156434834003448, + 0.7895184902685838 + ], + "closest_contact_pad_button": [ + 0.18966294825077062, + -0.4156434834003448, + 0.7684112787246704 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021107211543913373 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0a6b5d98fd2573aedbe5f04b10e6df862062fbf6f4fb5c83ddea644e1b8da03b", + "visual_seed": 9092327228616746383, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5534297cb6d7dffa437ccfe802e08683485bab18 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26624995166971, + 0.2026705599928708, + 1.1553638614945663 + ], + "current_z": 1.1553638614945663, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.2987773540860007, + "gripper_z": 1.1487147324895208, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26146868359180564, + 0.19776597456933953, + 1.1487147324895208 + ], + "object_minus_gripper": [ + 0.004781268077904355, + 0.0049045854235312825, + 0.00664912900504544 + ], + "object_to_gripper_xy": 0.006849487762563178, + "object_to_gripper_z": 0.00664912900504544, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26624995166971, + 0.17892850522294834, + 1.1553638614945663 + ], + "finger_b": [ + 0.2549840653009574, + 0.2026705599928708, + 1.1553638614945663 + ], + "finger_midpoint": [ + 0.2606170084853337, + 0.19079953260790958, + 1.1553638614945663 + ], + "object_minus_finger_midpoint": [ + 0.005632943184376293, + 0.011871027384961236, + 0.0 + ], + "finger_gap": 0.026279371384636346, + "fingertip_max_gap": 0.0899796611628372, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013139685692318173, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1553638614945663, + "object_top_z": 1.2008393317591812, + "finger_top_clearance": 0.04547547026461496, + "fingertip_min_top_clearance": 0.013642641079384487, + "object_projection_between_fingers": 0.8162189247918026, + "object_to_finger_line_xy": 0.010178146474044691, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047489830581418604, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.49818598479729354, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3327960776774067, + -0.36035404427220546, + 0.8470195337094012 + ], + "target_position": [ + 0.3261503443902344, + -0.3615005836727597, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006743910106255394, + "xy_threshold": 0.08, + "gripper_dist": 0.18750079698892785, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195337094012, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525431240762293, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08543292415071467, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15628517440355946, + "release_required_pad_clearance": 0.05271646207535734, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.48617930361176853, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008463919162750244, + "max_z_decrease": 0.008463919162750244, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503834215826017, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008463919162750244, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02104854448228639, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008463919162750244, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008463967024768263, + "max_button_displacement": 0.12, + "button_start": [ + 0.18185026943683621, + -0.41776204109191895, + 0.7768088579177856 + ], + "button_final": [ + 0.18185026943683621, + -0.41776204109191895, + 0.7768088579177856 + ], + "closest_ee": [ + 0.179757484761153, + -0.4175408463020024, + 0.8033193945187299 + ], + "closest_button": [ + 0.18186330795288086, + -0.4177367389202118, + 0.7683449387550354 + ], + "closest_ee_minus_button": [ + -0.0021058231917278625, + 0.0001958926182094034, + 0.03497445576369451 + ], + "button_min_z_position": [ + 0.18186330795288086, + -0.4177367389202118, + 0.7683449387550354 + ], + "min_active_finger_to_button": 0.14762055724073583, + "closest_active_finger": [ + 0.0526370108127594, + -0.4802184998989105, + 0.8109320998191833 + ], + "closest_active_finger_button": [ + 0.18185427784919736, + -0.41776421666145325, + 0.7763750553131104 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12921726703643796, + -0.062454283237457275, + 0.034557044506073 + ], + "min_contact_pad_to_button": 0.02104854448228639, + "closest_contact_pad": [ + 0.18186330795288086, + -0.41874992761905433, + 0.7893690837669812 + ], + "closest_contact_pad_button": [ + 0.18186330795288086, + -0.4177367389202118, + 0.7683449387550354 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010131886988425376, + 0.021024145011945827 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1153c398600f3208e2674726b781f5c3652ae66df7d6e2ed4e17826f8bf2c592", + "visual_seed": 4338322988040900949, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2cd8e8631bef8aa447beb9e9d414c27175fa4ae4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26935621742585747, + 0.20539905774667058, + 1.155202416788986 + ], + "current_z": 1.155202416788986, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2986158497757757, + "gripper_z": 1.1483450815425098, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26461185758385053, + 0.20062419310779409, + 1.1483450815425098 + ], + "object_minus_gripper": [ + 0.00474435984200694, + 0.004774864638876497, + 0.006857335246476248 + ], + "object_to_gripper_xy": 0.0067311427432525375, + "object_to_gripper_z": 0.006857335246476248, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26935621742585747, + 0.18139772179493185, + 1.155202416788986 + ], + "finger_b": [ + 0.25864963943974384, + 0.20539905774667058, + 1.155202416788986 + ], + "finger_midpoint": [ + 0.26400292843280065, + 0.1933983897708012, + 1.155202416788986 + ], + "object_minus_finger_midpoint": [ + 0.005353288993056815, + 0.012000667975869378, + 0.0 + ], + "finger_gap": 0.026281075694137006, + "fingertip_max_gap": 0.09028714962643644, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013140537847068517, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.155202416788986, + "object_top_z": 1.2006689567821023, + "finger_top_clearance": 0.04546653999311623, + "fingertip_min_top_clearance": 0.013639961997934867, + "object_projection_between_fingers": 0.8340355407376794, + "object_to_finger_line_xy": 0.00977784083607852, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04764357481321822, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.38527062571945286, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 357, + "max_stable_success_frames": 357, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.338185503299419, + -0.35306992947824456, + 0.8470191689804019 + ], + "target_position": [ + 0.33123996473479955, + -0.35448903433575396, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007089031284260395, + "xy_threshold": 0.08, + "gripper_dist": 0.18686046872620798, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191689804019, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557282512430985, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08567253502070914, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15497573759495661, + "release_required_pad_clearance": 0.05283626751035457, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7165480193577362, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008531808853149414, + "max_z_decrease": 0.008531808853149414, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035082509127000505, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008531808853149414, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02110424724729576, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008531808853149414, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008531922366119929, + "max_button_displacement": 0.12, + "button_start": [ + 0.18693989515304565, + -0.41075047850608826, + 0.7768088579177856 + ], + "button_final": [ + 0.18693989515304565, + -0.41075047850608826, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1883445586092305, + -0.4087873727035154, + 0.803276276235051 + ], + "closest_button": [ + 0.1869031935930252, + -0.4107261896133423, + 0.7682770490646362 + ], + "closest_ee_minus_button": [ + 0.0014413650162052871, + 0.0019388169098268904, + 0.034999227170414815 + ], + "button_min_z_position": [ + 0.1869031935930252, + -0.4107261896133423, + 0.7682770490646362 + ], + "min_active_finger_to_button": 0.14387584003081974, + "closest_active_finger": [ + 0.06206582486629486, + -0.4732087254524231, + 0.8075220584869385 + ], + "closest_active_finger_button": [ + 0.1869526207447052, + -0.4107564687728882, + 0.7728340029716492 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12488679587841034, + -0.06245225667953491, + 0.03468805551528931 + ], + "min_contact_pad_to_button": 0.02110424724729576, + "closest_contact_pad": [ + 0.1869031935930252, + -0.4107261896133423, + 0.789381296311932 + ], + "closest_contact_pad_button": [ + 0.1869031935930252, + -0.4107261896133423, + 0.7682770490646362 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02110424724729576 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "81ddb26c866d58488e0bc1a06b52cf52cde3e4828b6e782497f8985436c2ee97", + "visual_seed": 1731988808043155669, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..474c66d4d5bfb07756351061c771dc5dfcaadc4a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2628478827354355, + 0.20393026356434352, + 1.1563025918402072 + ], + "current_z": 1.1563025918402072, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.2997162036409312, + "gripper_z": 1.1495190402839277, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2580729068251606, + 0.1991737330279676, + 1.1495190402839277 + ], + "object_minus_gripper": [ + 0.004774975910274926, + 0.004756530536375925, + 0.006783551556279521 + ], + "object_to_gripper_xy": 0.006739805463600749, + "object_to_gripper_z": 0.006783551556279521, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2628478827354355, + 0.17993557358704368, + 1.1563025918402072 + ], + "finger_b": [ + 0.25212452113467165, + 0.20393026356434352, + 1.1563025918402072 + ], + "finger_midpoint": [ + 0.25748620193505356, + 0.1919329185756936, + 1.1563025918402072 + ], + "object_minus_finger_midpoint": [ + 0.005361680800381963, + 0.011997344988649905, + 0.0 + ], + "finger_gap": 0.02628184984219091, + "fingertip_max_gap": 0.09019799126027694, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013140924921095453, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1563025918402072, + "object_top_z": 1.201816112980525, + "finger_top_clearance": 0.0455135211403177, + "fingertip_min_top_clearance": 0.01365405634209531, + "object_projection_between_fingers": 0.8335246093602541, + "object_to_finger_line_xy": 0.00979016844970153, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047598995630138474, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5271512570366551, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.339574009239484, + -0.36138859514227173, + 0.8470196140391892 + ], + "target_position": [ + 0.33226090831955624, + -0.3630686623511959, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0075036038602494535, + "xy_threshold": 0.08, + "gripper_dist": 0.1875035924249918, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196140391892, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535349880812055, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08603304071955424, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1563066590612262, + "release_required_pad_clearance": 0.05301652035977712, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0653154973596572, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008413434028625488, + "max_z_decrease": 0.008413434028625488, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035012476382456414, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008413434028625488, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021213153949938796, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008413434028625488, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008413474146090649, + "max_button_displacement": 0.12, + "button_start": [ + 0.18796083331108085, + -0.4193301200866699, + 0.7768088579177856 + ], + "button_final": [ + 0.18796083331108085, + -0.4193301200866699, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18897824372763203, + -0.4186738470211182, + 0.803386890808006 + ], + "closest_button": [ + 0.18794530630111686, + -0.4193092882633209, + 0.7683954238891602 + ], + "closest_ee_minus_button": [ + 0.001032937426515168, + 0.0006354412422027167, + 0.034991466918845804 + ], + "button_min_z_position": [ + 0.18794530630111686, + -0.4193092882633209, + 0.7683954238891602 + ], + "min_active_finger_to_button": 0.14486930804835943, + "closest_active_finger": [ + 0.06138654798269272, + -0.48041975498199463, + 0.8082931041717529 + ], + "closest_active_finger_button": [ + 0.18797197937965385, + -0.4193367660045624, + 0.7731916308403015 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12658543139696113, + -0.06108298897743225, + 0.035101473331451416 + ], + "min_contact_pad_to_button": 0.021213153949938796, + "closest_contact_pad": [ + 0.18794530630111686, + -0.4199858063104344, + 0.7895977875271071 + ], + "closest_contact_pad_button": [ + 0.18794530630111686, + -0.4193092882633209, + 0.7683954238891602 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006765180471134946, + 0.02120236363794692 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "12bccb219596735771f91f31d3855db5d509ea9e5377561709b1aa97ac6e79b1", + "visual_seed": 1095046920124153449, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..19b60ff4e9269fcaf04756ac793513a3e6235d95 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2676821944110276, + 0.20131149812775387, + 1.158419248142591 + ], + "current_z": 1.158419248142591, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30183268112938066, + "gripper_z": 1.1516258882263672, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.262687584661206, + 0.19650374100274573, + 1.1516258882263672 + ], + "object_minus_gripper": [ + 0.004994609749821577, + 0.0048077571250081386, + 0.006793359916223762 + ], + "object_to_gripper_xy": 0.006932579254943954, + "object_to_gripper_z": 0.006793359916223762, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2676821944110276, + 0.17718195538599232, + 1.158419248142591 + ], + "finger_b": [ + 0.2568681738879202, + 0.20131149812775387, + 1.158419248142591 + ], + "finger_midpoint": [ + 0.26227518414947393, + 0.1892467267568731, + 1.158419248142591 + ], + "object_minus_finger_midpoint": [ + 0.0054070102615536575, + 0.012064771370880772, + 0.0 + ], + "finger_gap": 0.02644197180243343, + "fingertip_max_gap": 0.09038898482092148, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013220985901216705, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158419248142591, + "object_top_z": 1.2038809416473666, + "finger_top_clearance": 0.04546169350477558, + "fingertip_min_top_clearance": 0.01363850805143264, + "object_projection_between_fingers": 0.8327420754810922, + "object_to_finger_line_xy": 0.009868302272321154, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04769449241046074, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5181720004599645, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3398001724444266, + -0.35389850720359706, + 0.8470194330324567 + ], + "target_position": [ + 0.3321982517278385, + -0.3557196306693302, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00781701280917048, + "xy_threshold": 0.08, + "gripper_dist": 0.18847619074031535, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194330324567, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558834591558534, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08540030924919433, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15662864949416208, + "release_required_pad_clearance": 0.052700154624597165, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.454563773835502, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008418619632720947, + "max_z_decrease": 0.008418619632720947, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035007192335669665, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008418619632720947, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021204913497308377, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008418619632720947, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00841873200123132, + "max_button_displacement": 0.12, + "button_start": [ + 0.18789817392826078, + -0.41198107600212097, + 0.7768088579177856 + ], + "button_final": [ + 0.18789817392826078, + -0.41198107600212097, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18687465706824413, + -0.4113734103412781, + 0.8045215294206882 + ], + "closest_button": [ + 0.18788199126720423, + -0.4119777083396911, + 0.7695340514183044 + ], + "closest_ee_minus_button": [ + -0.001007334198960097, + 0.0006042979984129948, + 0.034987478002383776 + ], + "button_min_z_position": [ + 0.18785989284515375, + -0.4119604229927063, + 0.7683902382850647 + ], + "min_active_finger_to_button": 0.14677060860390298, + "closest_active_finger": [ + 0.05898091942071915, + -0.4726871848106384, + 0.8080999851226807 + ], + "closest_active_finger_button": [ + 0.18791078031063074, + -0.4119877219200134, + 0.7729676961898804 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1289298608899116, + -0.060699462890625, + 0.03513228893280029 + ], + "min_contact_pad_to_button": 0.021204913497308377, + "closest_contact_pad": [ + 0.18785989284515375, + -0.4126138260225561, + 0.7895850824908831 + ], + "closest_contact_pad_button": [ + 0.18785989284515375, + -0.4119604229927063, + 0.7683902382850647 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006534030298497862, + 0.02119484420581841 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37b68632c68cd8175c27dd256b09e3db84b074bac1eee0406539bfea506ef83a", + "visual_seed": 257997650076685655, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dcbd8550e3a7f918a74345696e5466d3ce4fc981 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26118785342789175, + 0.20729596090031396, + 1.1584159689398053 + ], + "current_z": 1.1584159689398053, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3018294019265949, + "gripper_z": 1.1516426662467971, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2563084432819748, + 0.20259862666503936, + 1.1516426662467971 + ], + "object_minus_gripper": [ + 0.004879410145916974, + 0.004697334235274603, + 0.006773302693008132 + ], + "object_to_gripper_xy": 0.0067730046722234245, + "object_to_gripper_z": 0.006773302693008132, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26118785342789175, + 0.18314273975399806, + 1.1584159689398053 + ], + "finger_b": [ + 0.2506811119128115, + 0.20729596090031396, + 1.1584159689398053 + ], + "finger_midpoint": [ + 0.2559344826703516, + 0.195219350327156, + 1.1584159689398053 + ], + "object_minus_finger_midpoint": [ + 0.005253370757540121, + 0.012076610573157953, + 0.0 + ], + "finger_gap": 0.026339508518716755, + "fingertip_max_gap": 0.09026513178657533, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013169754259358377, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1584159689398053, + "object_top_z": 1.2038661826120172, + "finger_top_clearance": 0.045450213672211914, + "fingertip_min_top_clearance": 0.013635064101663541, + "object_projection_between_fingers": 0.8408814685457694, + "object_to_finger_line_xy": 0.00963463882253466, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04763256589328767, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.44811813703947034, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 360, + "max_stable_success_frames": 360, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3389699823186132, + -0.3562919512329523, + 0.8470197165443701 + ], + "target_position": [ + 0.3311170753962454, + -0.3581957292518541, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008080378572605712, + "xy_threshold": 0.08, + "gripper_dist": 0.18846089868379998, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197165443701, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752642213002593, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498352524212603, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15732914380124366, + "release_required_pad_clearance": 0.05249176262106302, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05594940884815598, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008377254009246826, + "max_z_decrease": 0.008377254009246826, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500917202259366, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008377254009246826, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02108618564021622, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008377254009246826, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008377299598915703, + "max_button_displacement": 0.12, + "button_start": [ + 0.18681700527668, + -0.41445720195770264, + 0.7768088579177856 + ], + "button_final": [ + 0.18681700527668, + -0.41445720195770264, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1870465768658512, + -0.4136076594690723, + 0.8034299179229445 + ], + "closest_button": [ + 0.18679386377334595, + -0.414442092180252, + 0.7684316039085388 + ], + "closest_ee_minus_button": [ + 0.0002527130925052412, + 0.0008344327111797223, + 0.034998314014405674 + ], + "button_min_z_position": [ + 0.18679386377334595, + -0.414442092180252, + 0.7684316039085388 + ], + "min_active_finger_to_button": 0.14534893087072082, + "closest_active_finger": [ + 0.06064775586128235, + -0.4777432680130005, + 0.8078750371932983 + ], + "closest_active_finger_button": [ + 0.1868285983800888, + -0.4144638180732727, + 0.7732279896736145 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12618084251880646, + -0.06327944993972778, + 0.03464704751968384 + ], + "min_contact_pad_to_button": 0.02108618564021622, + "closest_contact_pad": [ + 0.18679386377334595, + -0.4146738147133829, + 0.7895165162754731 + ], + "closest_contact_pad_button": [ + 0.18679386377334595, + -0.414442092180252, + 0.7684316039085388 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00023172253313086255, + 0.021084912366934327 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a847ca356745d714e298a901ce45b7dfddc6054196a13a5631783dc27563a71f", + "visual_seed": 5663015488807270561, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9ced26d8d34d1a430a35ec04f0494cf3c87e6ee0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2628436515525434, + 0.20259867329924383, + 1.1584805443223603 + ], + "current_z": 1.1584805443223603, + "required_z": 0.8565866862224997, + "initial_z": 0.7565866862224997, + "lift_margin": 0.3018938580998606, + "gripper_z": 1.1517452216373676, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25800263920537325, + 0.1978602836803755, + 1.1517452216373676 + ], + "object_minus_gripper": [ + 0.004841012347170159, + 0.004738389618868327, + 0.006735322684992662 + ], + "object_to_gripper_xy": 0.006774048769063673, + "object_to_gripper_z": 0.006735322684992662, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2628436515525434, + 0.17855902507868798, + 1.1584805443223603 + ], + "finger_b": [ + 0.25215106771013185, + 0.20259867329924383, + 1.1584805443223603 + ], + "finger_midpoint": [ + 0.25749735963133763, + 0.1905788491889659, + 1.1584805443223603 + ], + "object_minus_finger_midpoint": [ + 0.005346291921205781, + 0.012019824110277938, + 0.0 + ], + "finger_gap": 0.026310378860728605, + "fingertip_max_gap": 0.09014776681570766, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013155189430364317, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1584805443223603, + "object_top_z": 1.2039332417616486, + "finger_top_clearance": 0.04545269743928837, + "fingertip_min_top_clearance": 0.01363580923178651, + "object_projection_between_fingers": 0.8348376228410526, + "object_to_finger_line_xy": 0.009769754951117218, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04757388340785383, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.46646024034473405, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3409114625757709, + -0.35308385612642335, + 0.8470195111625086 + ], + "target_position": [ + 0.3336529533248167, + -0.35487522132045524, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007476292249810476, + "xy_threshold": 0.08, + "gripper_dist": 0.186328379413106, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195111625086, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586817581796727, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08733864624713349, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15404367035156188, + "release_required_pad_clearance": 0.053669323123566745, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.348397446651619, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008443355560302734, + "max_z_decrease": 0.008443355560302734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035071364441143595, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008443355560302734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021125936009317114, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008443355560302734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008443456928860033, + "max_button_displacement": 0.12, + "button_start": [ + 0.18935288488864893, + -0.4111366868019104, + 0.7768088579177856 + ], + "button_final": [ + 0.18935288488864893, + -0.4111366868019104, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1869334354998173, + -0.40964334066421854, + 0.8033246118824082 + ], + "closest_button": [ + 0.1893127560615539, + -0.41112661361694336, + 0.7683655023574829 + ], + "closest_ee_minus_button": [ + -0.002379320561736592, + 0.0014832729527248234, + 0.034959109524925314 + ], + "button_min_z_position": [ + 0.1893127560615539, + -0.41112661361694336, + 0.7683655023574829 + ], + "min_active_finger_to_button": 0.14747765062912013, + "closest_active_finger": [ + 0.059948310256004333, + -0.4726869463920593, + 0.8077629208564758 + ], + "closest_active_finger_button": [ + 0.1893652826547622, + -0.4111417531967163, + 0.7729334235191345 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12941697239875788, + -0.06154519319534302, + 0.03482949733734131 + ], + "min_contact_pad_to_button": 0.021125936009317114, + "closest_contact_pad": [ + 0.1893127560615539, + -0.41112661361694336, + 0.7894914383668 + ], + "closest_contact_pad_button": [ + 0.1893127560615539, + -0.41112661361694336, + 0.7683655023574829 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021125936009317114 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f7b61a1a197b7c84def598ba6e6246dc799aacf26612215a4227d27d01a64c25", + "visual_seed": 5365803602004337310, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..708dbc6b85be788c90f441b198238903ed247d29 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26861572112073895, + 0.19959013540567935, + 1.1566792943065873 + ], + "current_z": 1.1566792943065873, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30009278689802177, + "gripper_z": 1.149912069516041, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26372588493258753, + 0.19478580410844787, + 1.149912069516041 + ], + "object_minus_gripper": [ + 0.00488983618815142, + 0.0048043312972314844, + 0.006767224790546367 + ], + "object_to_gripper_xy": 0.00685507820236306, + "object_to_gripper_z": 0.006767224790546367, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26861572112073895, + 0.17554156427732437, + 1.1566792943065873 + ], + "finger_b": [ + 0.2577899348445724, + 0.19959013540567935, + 1.1566792943065873 + ], + "finger_midpoint": [ + 0.2632028279826557, + 0.18756584984150187, + 1.1566792943065873 + ], + "object_minus_finger_midpoint": [ + 0.005412893138083241, + 0.012024285564177478, + 0.0 + ], + "finger_gap": 0.02637292971614615, + "fingertip_max_gap": 0.09010635183331128, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013186464858073052, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1566792943065873, + "object_top_z": 1.2021698181339437, + "finger_top_clearance": 0.04549052382735641, + "fingertip_min_top_clearance": 0.013647157148206955, + "object_projection_between_fingers": 0.8314991317117206, + "object_to_finger_line_xy": 0.009871663637103286, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04755317591665564, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5295300218472013, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33516023809402273, + -0.3547860280131164, + 0.8470197366703438 + ], + "target_position": [ + 0.3277956509814558, + -0.3564107430044482, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0075416736963120675, + "xy_threshold": 0.08, + "gripper_dist": 0.18848309488115988, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197366703438, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555688589257752, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0849976756691395, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15662308970005365, + "release_required_pad_clearance": 0.05249883783456975, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.068517082753464, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008469998836517334, + "max_z_decrease": 0.008469998836517334, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035053869669932264, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008469998836517334, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021018888728499663, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008469998836517334, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00847007826071147, + "max_button_displacement": 0.12, + "button_start": [ + 0.18349558115005488, + -0.41267219185829157, + 0.7768088579177856 + ], + "button_final": [ + 0.18349558115005488, + -0.41267219185829157, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18497767546510416, + -0.4114608833741548, + 0.8033423376163069 + ], + "closest_button": [ + 0.18351645767688746, + -0.4126420319080352, + 0.7683388590812683 + ], + "closest_ee_minus_button": [ + 0.001461217788216701, + 0.001181148533880405, + 0.0350034785350386 + ], + "button_min_z_position": [ + 0.18351645767688746, + -0.4126420319080352, + 0.7683388590812683 + ], + "min_active_finger_to_button": 0.14403861484836722, + "closest_active_finger": [ + 0.05905088782310486, + -0.4764762818813324, + 0.8108476400375366 + ], + "closest_active_finger_button": [ + 0.1834996938705444, + -0.41267421841621393, + 0.7763670086860657 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12444880604743955, + -0.06380206346511846, + 0.03448063135147095 + ], + "min_contact_pad_to_button": 0.021018888728499663, + "closest_contact_pad": [ + 0.18351645767688746, + -0.4126420319080352, + 0.789357747809768 + ], + "closest_contact_pad_button": [ + 0.18351645767688746, + -0.4126420319080352, + 0.7683388590812683 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021018888728499663 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cc7a73373f1dd32d1ee5b9129ba11c09f04339d74964376f1585a04ee7365b01", + "visual_seed": 465891239739830822, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0d6a2c2e590ce83b14a8f2b8494ae5c94250572f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26491669190907396, + 0.20821598089420276, + 1.1572570589096711 + ], + "current_z": 1.1572570589096711, + "required_z": 0.8565866862224997, + "initial_z": 0.7565866862224997, + "lift_margin": 0.30067037268717145, + "gripper_z": 1.150430299031503, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26000748980609456, + 0.20343018146303887, + 1.150430299031503 + ], + "object_minus_gripper": [ + 0.004909202102979404, + 0.00478579943116389, + 0.006826759878168165 + ], + "object_to_gripper_xy": 0.006855956642455231, + "object_to_gripper_z": 0.006826759878168165, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26491669190907396, + 0.18414337934189115, + 1.1572570589096711 + ], + "finger_b": [ + 0.2541372751259716, + 0.20821598089420276, + 1.1572570589096711 + ], + "finger_midpoint": [ + 0.2595269835175228, + 0.19617968011804696, + 1.1572570589096711 + ], + "object_minus_finger_midpoint": [ + 0.005389708391551173, + 0.012036300776155806, + 0.0 + ], + "finger_gap": 0.026375859638695834, + "fingertip_max_gap": 0.09022212678121433, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013187929819347917, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1572570589096711, + "object_top_z": 1.2027530271024651, + "finger_top_clearance": 0.045495968192794, + "fingertip_min_top_clearance": 0.0136487904578382, + "object_projection_between_fingers": 0.832976614573385, + "object_to_finger_line_xy": 0.009838109875487402, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04761106339060717, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4812821640262918, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3396585176063549, + -0.35237109516160636, + 0.8470194977800638 + ], + "target_position": [ + 0.33240243399683617, + -0.3541318915326913, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007466669485704613, + "xy_threshold": 0.08, + "gripper_dist": 0.18814232205779843, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194977800638, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580128704721101, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08545917301351279, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15575059014549095, + "release_required_pad_clearance": 0.052729586506756396, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5112887702133496, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008488178253173828, + "max_z_decrease": 0.008488178253173828, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035058957851636235, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008488178253173828, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021407032278000872, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008488178253173828, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008488284402931683, + "max_button_displacement": 0.12, + "button_start": [ + 0.18810236454010004, + -0.4103933572769165, + 0.7768088579177856 + ], + "button_final": [ + 0.18810236454010004, + -0.4103933572769165, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18677209566081976, + -0.41212969532724203, + 0.8070349226688853 + ], + "closest_button": [ + 0.18809029459953303, + -0.4103930592536926, + 0.7720438241958618 + ], + "closest_ee_minus_button": [ + -0.0013181989387132664, + -0.0017366360735494024, + 0.03499109847302351 + ], + "button_min_z_position": [ + 0.18808314204215998, + -0.41035550832748413, + 0.7683206796646118 + ], + "min_active_finger_to_button": 0.14740973946122723, + "closest_active_finger": [ + 0.0457596555352211, + -0.3949877917766571, + 0.807932436466217 + ], + "closest_active_finger_button": [ + 0.18811492621898646, + -0.41039931774139404, + 0.7729025483131409 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14235527068376536, + 0.015411525964736938, + 0.03502988815307617 + ], + "min_contact_pad_to_button": 0.021407032278000872, + "closest_contact_pad": [ + 0.18808314204215998, + -0.4133074237220468, + 0.7895232084396121 + ], + "closest_contact_pad_button": [ + 0.18808314204215998, + -0.41035550832748413, + 0.7683206796646118 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029519153945626875, + 0.021202528775000284 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "db5072251484900e5459671d2266dc932370166c86f016f8c36968c942831c6c", + "visual_seed": 896281920139348982, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a0cc4bac7677aa4008394394ea3286d80429cc96 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2644192160583746, + 0.20828266917775062, + 1.1554804014809046 + ], + "current_z": 1.1554804014809046, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.29889401328162857, + "gripper_z": 1.1488187058546346, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2595429242432825, + 0.20344177071058317, + 1.1488187058546346 + ], + "object_minus_gripper": [ + 0.004876291815092082, + 0.004840898467167454, + 0.006661695626269948 + ], + "object_to_gripper_xy": 0.006871136720758672, + "object_to_gripper_z": 0.006661695626269948, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2644192160583746, + 0.18424376433479228, + 1.1554804014809046 + ], + "finger_b": [ + 0.25353553698285175, + 0.20828266917775062, + 1.1554804014809046 + ], + "finger_midpoint": [ + 0.25897737652061315, + 0.19626321675627145, + 1.1554804014809046 + ], + "object_minus_finger_midpoint": [ + 0.00544183953776145, + 0.012019452421479171, + 0.0 + ], + "finger_gap": 0.02638794073564248, + "fingertip_max_gap": 0.09018462122442183, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013193970367821252, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1554804014809046, + "object_top_z": 1.2009870720170994, + "finger_top_clearance": 0.04550667053619484, + "fingertip_min_top_clearance": 0.01365200116085845, + "object_projection_between_fingers": 0.8298858440609721, + "object_to_finger_line_xy": 0.009914821632307266, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04759231061221092, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5941271657616136, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33616747231867916, + -0.35578378070016003, + 0.8470195516364724 + ], + "target_position": [ + 0.32853548130210675, + -0.35767825214337085, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007863606610594358, + "xy_threshold": 0.08, + "gripper_dist": 0.18669854785232415, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195516364724, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567133942898172, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08508515031019441, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15487826701906168, + "release_required_pad_clearance": 0.05254257515509721, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.15323305508769053, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008497834205627441, + "max_z_decrease": 0.008497834205627441, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034990029598699054, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008497834205627441, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021149883178675184, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008497834205627441, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008497863942782954, + "max_button_displacement": 0.12, + "button_start": [ + 0.18423540890216822, + -0.41393971443176264, + 0.7768088579177856 + ], + "button_final": [ + 0.18423540890216822, + -0.41393971443176264, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18374979159419522, + -0.41401580092096174, + 0.8032975258969567 + ], + "closest_button": [ + 0.18423675000667564, + -0.41391727328300476, + 0.7683110237121582 + ], + "closest_ee_minus_button": [ + -0.0004869584124804205, + -9.852763795697994e-05, + 0.034986502184798485 + ], + "button_min_z_position": [ + 0.18423675000667564, + -0.41391727328300476, + 0.7683110237121582 + ], + "min_active_finger_to_button": 0.14635307308889062, + "closest_active_finger": [ + 0.04304087162017822, + -0.3975474536418915, + 0.8077025413513184 + ], + "closest_active_finger_button": [ + 0.18424658477306355, + -0.4139445126056671, + 0.7728987336158752 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14120571315288533, + 0.016397058963775635, + 0.034803807735443115 + ], + "min_contact_pad_to_button": 0.021149883178675184, + "closest_contact_pad": [ + 0.18423675000667564, + -0.41523070071382306, + 0.7894200849621423 + ], + "closest_contact_pad_button": [ + 0.18423675000667564, + -0.41391727328300476, + 0.7683110237121582 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013134274308183036, + 0.02110906124998413 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 3890265228009173086, + "physical_seed": 1785966710689869590, + "layout_id": "layout_00040", + "step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "workflow_spec_digest": "ab3da9ba728deb2fb04980b5a7c751c4dc3f2a33cbe835229dd321b19075d1a3", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8cedb3d97245084f1b80025399e71c09ac0f1015bfdfb5a1a9b8909edec449f7", + "visual_seed": 8885219541185919959, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5133380370678568190, + 1957128857539774798, + 3520609467814434280 + ], + "runtime_workflow_digest": "ec24404a70b0cbf2ee024947479ebce0b4cb447a773f36d616c88ffc62cc96b3" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..805b63907f3fb46501a90a3d3ecc7551bc6d216a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00040/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_htd_00040", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3722e5b542cfecadd92f9b511560c5b7eb0da4d3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63ea7986c79915a4618854748af08ec95ca7d3e261f679cd5582aea836ef217d +size 4750757 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..adffa82b6c02a1bb0f4d85e800ae5ae91a72f151 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fcaa91fea1c3bdea21a8f50d6fc72c2c7a6817a657ddac22a3545e7bc821711 +size 5561074 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3fc4b8d21f1461d8720a216d36184ba06d4b375f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bd91419031097e8086415f49af67f896651ec56bb8b9c4364f6b03054fa62a5 +size 3946446 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..533b99813fe5cfe6a38d10f4116c821949bcc0b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fb9c11ebcc153dce67fa8a18f2661364a6c4aa14f9f56e794378e1b409c19ac +size 5545881 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3884a490134129d31743fbae0cdfcf26ca8e8d7c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a96c0f240dc3cf52eba87f548792a641ef1daf80e98fa54a538588f34ca4145 +size 4400203 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7e84102b75b0f656b7cec3bb3db8c1e07310380b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62d5a5175454066f98e5a27279fcace053ca76e002cf4dfe73192d1b3fe934da +size 4572605 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1bbd28f2b301feac8d8e5e6bfbc4fe9a2779e85c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5a5998fb064d38a1a2563c5d019803f352e0cf96ca369f46e2d372e97739152 +size 4131111 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f2d772d60253482319a569f5053267950c7f79ac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a82d552b42984b0fba3f3a30e8e416df9186895209a26798aafff0f32b8dd004 +size 5945854 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9d918b1f6376a8d83d96cac05d606ad4aefb72bc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:509a05af53e63d33d95f8e8429b4f97b234593e58d537231a6d7cbc55e6a3171 +size 4067756 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..285958f4a058c8341723b2cbc8a69194d81b8c6a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3b7d3b8e0d5c3f6e68b932e6d5d27f4f1455f39ba1a2ef1c553d593fd438325 +size 4390289 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9167edb9092db8850cb6cfeccebf07c7f3ebe514 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58a459f37923370151e8f6c03cd637d286dceb833d6b4b43a9bacace2beeb5c9 +size 4847042 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..162cc9eba8c8e928674b05398d0c13a0edf28f7d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21cc1f13860489db7b2efc2be5140304c4a15abbb35ebfb921bd10ab72213af9 +size 4668349 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0c2eea7f8d59d86e2d11d4e1e21e0bd388ffbc0b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c4ffd831b2a0ac9c04947b40b8b41d61c687d8b697c6aeef3efb7f05a6e8062 +size 6753357 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..20df891b26824cc2b9c74cbd3bca0050fc64ba57 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3afaadc1b39fd8bf8db1bd4635f159856474235c83cd2b819d602b70cc87e24 +size 4030926 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..019783daa5a7fe622a8f7af52194b094df3f0c13 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d5031e21b9486ed56cfd0c87e671764153f6e3914642fc2ce7fd38010b7ae17 +size 6028214 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..af737b45f2fd127d6d2faf5fd0768eaa834b3014 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8377d3c8ff81e894456e07b154f140f71a00ec8b813b2ae2812759e1795363be +size 5139295 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3d573990a8d88d07013cce6307402f69d77e3ed4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b52ecd2fbe77eb6395d4a7bbaa4e39e35ba4696070c8f8e2a16cca733b29e93 +size 5413791 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..34d2c6ce34ad4e03f344b568d5db9d70b022196a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:058c90c4ad9d12de57c0a39dc8efbaee4f80f78c669ace99a442367c2669031e +size 4602738 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b26649849df9162ccdc043a223ba1b52eeedd356 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1406db8ddf589d567caefd8a1c6282afbc518372ed083d4c444795f37280f831 +size 4805587 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..78f7db8e3f0bc8948e0da86e0350c2423580bd7a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:589eaaafbd17f474e2a4cbb3ae0bc6553874d3449720688b7af70a4c708f128d +size 4933588 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..03c414a104134059289dc935894ed25d1fa82d8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a353b26cdde601771431cf221cca8e67b20ec40dc4d9229444d1f87ec838ddd +size 3859462 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a498f18a2d02de0760b31e6e9305f14bb89f6ccc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38110ec8081206e11eb224a4ee0c63f64aae79a40cfce08dc70ab7003676cb9f +size 5142554 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6a204ac7812d607b2232a2afc54fb8c16cdff76c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:145a0b81d9e4529e31a39071d41c98e1d24ab1c2ec473c1ab6884256bcc16295 +size 5399063 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ee384d282b23a09f863249cda21381275c9b892 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c409f5c77678ffa7d5b4aa508afd0ae35b6eaef4b35973f2b272839a5934a4d +size 5709649 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cd45edf865326325a39c8d0f1652b2960aae459e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:125f33be3614a169d97e30cf055e27c4a057c622e13ed556cb71d13a98e6c37d +size 4829615 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..55997812dd31b0f0a91fcb1be75333115bdf31cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cc431c2cf47c32849de53e15aadde807c32a1bfe6d56c74a1117f8ed993d9fa +size 3883394 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d4ae9448fade103b8bda215f94cb33ac67ce4af --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2bf04365e27606a658b57b916750ddefb3d6e9d8153c352add9ea48404749de +size 5208052 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..44bcda5123a87a3c6de44b05ae3fa1268f6db6fc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f39539b0aa630f8f5a6e351372219cbc619f9465b5a05df45827e62740e4fdcc +size 4240306 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..488e07fdf852544e2e7727e24a59c5126fc2ccf5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:237f78b5303495fdbe94bad48bf8b040d81f61babf578775a39ced63512cd48f +size 4520419 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f8e669e7bedf1d5b2d704178d778ce50751f9a5b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f11271697a4137d3344b0f96642682b662919528d06c564c1f1fe35b7090a4b6 +size 4685815 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..896b37eec9adb6526f2bf89ca4e6ab225d92e550 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:048b0c4497b3720b83e76d681954f6c4ce82e00f3b01b3fbafd7a32d42d9c219 +size 4779028 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fef4dda1aad7424895c0836d0886523da6b2acdb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0635ba18a2f7e311d3f5f2288ef8ae0a1b599c7ef545d91e4d0600b66a98f074 +size 5778927 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3be39f3d812759bb854c4899588479a425e4234b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7058d242886a0af0bf6a24a90738834a6adf44719cee99cf818001d8fd6c4ba3 +size 4307333 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5c1d1d53d7b035cd46cde803b24591318e2d902c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a40d3f5380023772e5de0a99507da936951fc203c04b5d7b089b8493794cc9c1 +size 5682730 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..777c07e7b606ebcfbe2487921c246d31fb348c95 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14f2832bcd577a2cd32b95165ebccd67525f35ce4e589e2c45afe187a788a854 +size 4297863 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..456d0b4c85b33113a69a1eb0c4c528d90ce86cde --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e522f8d7a2f6ad865ff8254f341ded14cc3ef09047bf3de892da7db78d088c73 +size 3919906 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f4084190cca5e7d91c4ac4f1180bdb637ac7008c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39995adbcd7fcc4cdf4548897921df2814ec96d96e0b36f06bd1ab083355afef +size 5788898 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1c61b598c6ea8016aa232c6141edc1573340dfaf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:156b34fef560942a19f0749e87fcba41463691f0d715b18ddf8ab9f0d0b687ba +size 5717977 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e8323d6c0c14cf498a87c1c35e93a34328b8a2d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ff4c47ec713b316b72331fa8dcb173b581196966ec65cf469acdb810230626f +size 5025768 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4f7079647b450834558fd6286f0fdd6ee1ef9694 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c73e7b48620b028df4c22678d9807e7b0a46fc6820f951c7ef81d4f3525a97ad +size 4859033 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5018a34475054a5b4e123c961cdaa05b93dc639a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1a0936806329b5099baf2c8662718c34874635e2a5b35d4a5ca1a90b7dca2c0 +size 7026453 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b7ee6d5dc54f9de340700eee78f8c425cee2f39b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8b87483cef4afba0ef243512c0faa995a74abb7a57053ccd8747bffdb554445 +size 4364458 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..449268389396f21f37a14a7205a18ca49faa7810 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c96d346239eb3f5c7d5a7bb1d45e6650868ae255d9fb4fef273b2bd9107ce062 +size 5036236 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e71b26e9301a2a2dca06fd30f6f9d57d816f366a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea25190ab38fdf8ada59b8de0dbead86fe2a48b1de442c01a10a9dba62f18320 +size 5458193 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f1b6395ec30cd2f7458cb6c7aa93dc05edd7bce0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e80e2fc52672bf77c0a664855800c86eb603fda61e2607a1d53ea55da58abbc8 +size 6258778 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..712fcff92d98b3aa88be34d8f8b13606eaa8395a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c8b44ebaca1c99132f6d424304e0c5677308c6d573afd8a2d7c66a66e188ad0 +size 5156728 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5fd1a64ba7f9614e48d0de8807caaf7db0c3a273 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b4bf073d3b0808474f8031fdcc680cd070d1edd5748b3255b6e3dd0cb9b1a5a +size 6000416 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b0a2d766c90c7dde62afba47ab43d9d54dd4f48e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66731e3ba181e5b63d06d8961a8a0f745e53157ff286cfc345db810248a894ce +size 4985197 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f0271c581f949097dc99d05677b9b7222f19a446 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c811e9f3f26fc434dbe2102908388369683e3bca62a9738b0f6bb3db0898102 +size 3871242 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c6b014f1908be911415170c7c26f9a05cf25e284 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99d5cf9de8bc8419af3fdddb13ba5f81bdb83a5500ecda536c2f448f6abf3f10 +size 5254753 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c4e138eda9f1b7ffc6a769cbd474312cbab04090 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2088846818d805bc793678b04ad216baa57d0c57a5dd5fd1799a180a963bbe37 +size 4356343 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0dbd0146ff8c9ceacddf81a21c953c263325c5d8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ceee98fd56b510aa42909a1e1ec8771c8505e9475a683b78bef02b76e2da7f88 +size 5627145 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bda9df939f0b3689b5f2a63932a42c7bc16de80f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9114a1b318cbf5fe23c0d5688991023b117eadfc248757e3161a23ff6fb2688e +size 6170002 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c4a088a8a4431186e7532ab944fb82c216037544 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4daa659b6ffd1cbbe9fb9ae5915f36811a39a7f67af7c4bc6fdb87ec3e6a5f9e +size 4876307 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8768169919d19660240a9762767df9ce1ecfa361 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73dcf9b00ad0a69b596eb6ff39cd3aae1545a5ac17ad5b267773bf4165b16cbd +size 4211070 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..55073d178fa8e94f379765073a830aa7cd17f760 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a292d328d8e717fe6655dc12c25b6f7129627ad215f2dc91d7101307bc871126 +size 5485553 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0b8e4004c5aecc12a9870d179c45941f78612e22 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f06ef2abe43c08a728c88c8d1d2eebe1b70fd58e15c24a7c4770235ba9c5866 +size 5485607 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..09f2595f112be6700764e6a8bb9c55b93d31b0df --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4833f4bb4d78885fc40383aab9980bdb0657ad984c715c43e941d1c9c7e3a9b +size 4715911 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2383e4011f9208ad2d51665639e9dd55d53f4ff1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:654474e757cdf2ad5c238ec23204bea90bcb71d731b684a55d51a86c37f9b2b9 +size 5136871 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca7f1895c18d145f2d9a34801eb65e329d2fc5ae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:063fa5a4f6b11502fc8b72e690840c9a7412f3037d026147e869e2cb9cb535a8 +size 4092669 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8fb2d4437fe7e1988f7a56f4e65f721d0d2f351f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2a7bf28ea8b242c93b817958aa8020ec1c59f33b2f8b3ea9be7fd4552e91d9a +size 5034420 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3d97fef03536970d6e68b8f1c7078e11582594dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22f4ddcfa1f932f783a516e4ff7f46fbc438b7766b31820eb503f2ff3470c06d +size 5236546 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..71172b3499c1fad4821fce74501e563e302be545 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f7aab97a5d77822423f3d4af3b5b826b392cdd10152b59a14e26d95c550579b +size 4249200 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..36a193b1f386325a1ce6c9631920945c7239b1d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92648c7e525f0a84d0ece61be9033358964fece82cfd6771c46201dbc1f8982f +size 4602973 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f623be945c1ac522c063ea20172e59de66b60a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c7f9f78514ae7c4d9b55bf9894cf3c1b2a4bb83a9c6e96293e1b11037b1acf0 +size 5638713 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b5139a83ba1325a8ce230fb632a12e5c2994d84c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:940f528de6f060641d282e451b505bce8159edc3475b123e0146a5ac6be361dd +size 4034183 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c75cf0ca90aea73a4148778e58acd8bf1338bb38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:907862b65b994065efdb83f152a81824051097abfae0cc2ab0b67bfd145e5eb7 +size 5918927 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bb99ab3d27a20b511a4514274fa830873f3e6f42 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b200801a0d205fbaae6c343c5fd0ed5853df37e4501236635ceb85e1557bf4f +size 6623693 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1add9b4cf7f523ee2d764793354ca0d2c2f2412f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a8eae63c9e94b60ad6fe5861335287794fdc58e422e0feb8235be00f7c926b8 +size 4789599 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2daa83f428c8f83a0d77b1feb60e23250342a69b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d43f9ef91302378df697f8825e829acb7d16c369a5f74d82c89395811324f93 +size 3399320 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a9aa1b4769411775797eb2d163eaf9f1b8c9884 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ee5d30e26c72721b002418c8495a32e66afac3dff2534644e46019a2de69d32 +size 5027152 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8dfdba5e12d935e01a2538ef7479e485f8385d27 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81bde5e96ab5364c1999662c3502f11224efa27302a7a93d5df5a26e102a6790 +size 5178364 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..78271d6dbbe7df8de7a7a5dbedca4164ee04ded9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3528a368950a8d04a5b755709d302ed90d2ebef8edfbbb99f987957f9608d9f0 +size 4536168 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..53493283ee2db2d9c6727e273200f5482fbfab4c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4afb8926a8de4dae79565c64fec11f0faf940e06fd8d2414b02b1245cbaeb741 +size 4134644 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..285ff27a00499fa6d460050471ef35d6e006462e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:583c79edaab44121d077f8ac5c8d61c31dd21b9afbe366ad52ed099df47a2337 +size 4929989 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..165fc59ce6fab9673053ea2d2929802a1db7d47e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:801b0e5e5cc53afe91cdab464b49d5da44392000accdc505fe699c7512051e00 +size 5386050 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0df9c6774a01888abdaf2f54b2b34b5edfe1df2e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:950fa9ff08fd2e2c56873d6a27567e08406babc3f0b0d1d621c7f878437e93ab +size 5587159 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1142dc48e0e43a9c0c916d8021918fff15ed36a0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36fb0aa349b4a53cee74aca390a83ba69d5c8f9eab32b0f1d03505bc9d10e01f +size 5564464 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..33608754afa016aef55950acfb3b18c6f6fea0c1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7de8879b9484ef5d31d7769b8035a23ec8d0938b9e8d25a1a38a04b81cab789d +size 4211172 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..59ca91181bb30f1b37198f9b5c2065dbac30ed3e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f22da31dc608db81f71a5452fd54fa54212c183d017dd29dbda2c603d025453 +size 4563268 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ab2059a5192d9bfd7f21158089caa3c510803bb1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b4c455347ebcdf861b8ffeb3317aab7f4f5a9db1422e6e4ad6414e44d9a9630 +size 4341021 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f6e6369337cf5618ee976ad3c97cbe8cfe86f52a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:503510c30e99085eac8ca834f23e7a0e8de1cc49d45552675356e440e91ac861 +size 5816041 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bca237717cba18180d57f1a46f6261f4897c2452 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e603f05e0b3bdb2f32e7ecc221f7dd7106e30e150420b58a1a718d965d75add2 +size 4051329 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..65e0c4c3b80676b7e703b794af7a5fed4ea915f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca8af91a53e755ef0bce0e6c1c58876ba00c29aef6a22f4ebc9986723dc71de1 +size 3892147 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c25389d75b44c0799a2330650676b9d9d4d57293 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c6fdbc6364ca84dfdd240dd0c5f1af6493eaf9b015333fdf4e8f69c036a38e1 +size 4021619 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..609980da55221865d6ec6b5eff11d27dac124c67 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d52f12f8ebce6917e1e43ac1dc71476e3b0a457832497e69f988ab48fc4f3eee +size 6578408 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..08d5f6ae5207ce7b3d4733684eb293d42e5a16ea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6699ebba3a70c4bb52a7993ee0bcaed7003473169790ae5946fa457d93f8150b +size 5912971 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa5cc215972f12f8e49d54ea57441fe8b3343288 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a44fd618a6a1d35ad0166582c43eb2decc033677584217a62222a64ed042a7c +size 5112247 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e67613494def899f36ea6f9b96b4b3556213483 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:603f47ed4c25f21873d05338e97192d2229a5c8c37576c340be906cae0781f25 +size 5151738 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..18cb0cc56cdd1be9f712e22ae35d48a89bd6c18e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4885301a2999e6052e4715084fad02c6d332526be0b9e38940bf213a414d4bb +size 4465522 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..287f5bbce2e5db0e867616311ab1a3ce5c12aca9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe5a1ed799f8e0c5669b7ba596abd92fc6a697b3aff6b2565b1ac65a0e991a54 +size 4876603 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..02a7848f42d5bea32bab220eb37cae9d251707ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7f35ad2fbb1ee461ee83f926620bf6184ee11ea8481a15e4c8ba0015a0d94a2 +size 5211162 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..56a58d25b120699b9d4977362f9218873faab9a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6006923b11a986d290099b60b18715c83e1bd0e6f6a5ceb8670a8132635857cc +size 5701696 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..82d9f932685fb34d6bf71372f2f60a4b95eceb4f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:652a5394fd7d105252e94d311a4cdb3078beea608297433774573c847a02c7b8 +size 4472477 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d4a519b69db5e0869d47d16a1309f9879b047ee8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e17cb6d1b35cbdbcd6a3e17de616ad044de318fa0f9f220183bc4bde45461dc9 +size 4839594 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9d0a27ec272fc38fb09c1b4e7389550b11d1e667 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77eeb7e5225946f7229631251ef162b128592927ea03098a334d7721b1d0b927 +size 4629999 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4978569050da3c47f24596765b364c8e7acf129e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12b5b3bcd1e599637d474e7d160b952cd1da5d54928cf68e2955539706dad254 +size 5906610 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5049e133223600b2ef6b1935d2223a8afa3a97ee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f650a2e7f0b073865a362ccef8a8dcc578bd8ca915fd0fc022bba43abb76953d +size 4864304 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..023855e0e5859ff36e52efb949fd0b45ff2fee3d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad918ea3a5c1a2719d5bda50651190de32056bee239fa9c88f90cc27f3d57364 +size 5658151 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8b0d4c656aadb2f0878a0e7bd849a4a7228c20b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ac0706f8d955395ca5cd92d97dd74ca4ef794ac45e30bf3f1ae8cdffc232ccd +size 7618709 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6e3ff39b2f922c5d3ed7ac9fed883feef838cf8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":895,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":893,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":896,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":888,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":890,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":891,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":886,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":887,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":894,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":889,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57c868c88ea477e7e4c5bd7c427e3a5f3c195740 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-04T13:39:24","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[-0.5855126654972288,-1.0563543853136441,0.71338606911949],"aabb_xy":[[-0.6395282617791288,-1.1203543882059013],[-0.5314970692153288,-0.992354382421387]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.3117461514468203,1.1612458092423181,0.71338606911949],"aabb_xy":[[-0.3967461498642435,1.0763715137800332],[-0.22674615302939705,1.246120104704603]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.2534891710909283,1.2489035419564254,0.71338606911949],"aabb_xy":[[0.1984969204554174,1.1939035402131128],[0.3084814217264393,1.3039035436997384]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.3668054924344341,0.20165455897125018,0.71338606911949],"aabb_xy":[[-0.3843054258684174,0.18415455905101563],[-0.3493055590004507,0.21915455889148472]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.2737650415139418,0.9800259743433348,0.71338606911949],"aabb_xy":[[-0.36376504093231266,0.946650477499145],[-0.18376504209557087,1.0134014711875245]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[0.5118086096950492,-1.3817012068940147,0.71338606911949],"aabb_xy":[[0.48658777283520943,-1.4069249577469012],[0.5370294465548887,-1.3564774560411277]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.2191264220877973,-1.5417384728734045,0.71338606911949],"aabb_xy":[[0.18412642377710187,-1.5494534877969501],[0.25412642039849276,-1.5340234579498588]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[0.5599757701248111,1.259327373851114,0.71338606911949],"aabb_xy":[[0.4999757684818893,1.2073272245591697],[0.619975771767733,1.3113275231430581]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[0.6695130082090615,-1.4376226339657172,0.71338606911949],"aabb_xy":[[0.6223836292072256,-1.501622635010119],[0.7166423872108969,-1.373622632921315]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.5090954295389281,-0.11949108250826823,0.71338606911949],"aabb_xy":[[0.4915171273499812,-0.13706557208237313],[0.5266737317278749,-0.10191659293416333]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[0.6852339430008954,1.6366438150219165,0.71338606911949],"aabb_xy":[[0.6616488195370006,1.5716438127764847],[0.7088190664647903,1.7016438172673483]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.5259382463782336,-2.073310683383564,0.71338606911949],"aabb_xy":[[0.48843824795483326,-2.0864748973513945],[0.563438244801634,-2.060146469415733]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.449106243369074,-0.4300468191705469,0.71338606911949],"aabb_xy":[[0.43820046728151124,-0.510046815569376],[0.46001201945663667,-0.35004682277171767]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[-0.3049068498235618,-0.1339053017469629,0.71338606911949],"aabb_xy":[[-0.3200091512845798,-0.14900682337802468],[-0.2898045483625436,-0.11880378011590105]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[0.39000131678769745,0.6169948910035554,0.71338606911949],"aabb_xy":[[0.3260013203603756,0.5698252671814591],[0.4540013132150194,0.664164514825652]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.469412994969012,-0.7176305818572104,0.71338606911949],"aabb_xy":[[0.44691299544530455,-0.7401265293078312],[0.49191299449271936,-0.6951346344065896]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[-0.2684353971774527,-2.3051127016239326,0.71338606911949],"aabb_xy":[[-0.27547570711098973,-2.3851127010236044],[-0.26139508724391575,-2.2251127022242616]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[-0.07750695801946417,0.7687206841905434,0.71338606911949],"aabb_xy":[[-0.1475069544294259,0.7482827485388615],[-0.007506961609502357,0.7891586198422249]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[0.6064246200683951,-2.4502634495833093,0.71338606911949],"aabb_xy":[[0.5364246174318087,-2.4703683145791744],[0.6764246227049814,-2.4301585845874434]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.6505740155357982,-0.21546286408625814,0.71338606911949],"aabb_xy":[[0.6005740160956025,-0.26543078857057445],[0.7005740149759937,-0.1654949396019418]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[0.49193480368326115,-0.9946589473598053,0.71338606911949],"aabb_xy":[[0.42793480146285406,-1.0390320314850934],[0.5559348059036682,-0.9502858632345169]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.14516621710891264,1.4685334497946623,0.71338606911949],"aabb_xy":[[0.13713994647828667,1.4597819548173097],[0.15319248773953867,1.4772849447720149]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[-0.035306520064505964,-1.8414294180733566,0.71338606911949],"aabb_xy":[[-0.040150114825735946,-1.8462810705523407],[-0.030462925303275996,-1.8365777655943725]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[0.1251002013061232,0.7165655378711966,0.71338606911949],"aabb_xy":[[0.055100199497377766,0.6952117691070091],[0.19510020311486864,0.7379193066353839]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[-0.6666390730230869,1.109087723314949,0.71338606911949],"aabb_xy":[[-0.6841390732824236,1.0949961811261766],[-0.6491390727637504,1.1231792655037218]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[-0.5738198345922938,-1.9866698594372354,0.71338606911949],"aabb_xy":[[-0.5971016767904251,-2.071669860734463],[-0.5505379923941625,-1.901669858140007]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_26","position":[-0.6052415778172555,-1.4966297216667086,0.71338606911949],"aabb_xy":[[-0.6427415783146139,-1.5005984052148271],[-0.5677415773198974,-1.49266103811859]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[-0.2722429609862131,-1.1838004927689738,0.71338606911949],"aabb_xy":[[-0.27948672703245836,-1.2638004909725762],[-0.2649991949399677,-1.1038004945653714]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[-0.06498985564426063,-0.573426969677798,0.71338606911949],"aabb_xy":[[-0.12898985590473142,-0.6184357690307261],[-0.000989855383789817,-0.52841817032487]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[-0.5922694286473247,0.8509481759728739,0.71338606911949],"aabb_xy":[[-0.6036311633006108,0.8395797095665857],[-0.5809076939940385,0.8623166423791618]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_30","position":[0.6845101470556487,-0.3741608143629951,0.71338606911949],"aabb_xy":[[0.6667166401207323,-0.39196055995879275],[0.7023036539905652,-0.3563610687671974]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_31","position":[0.17457902572862583,1.022692620004091,0.71338606911949],"aabb_xy":[[0.16380605180725805,0.9876926217850519],[0.1853519996499936,1.0576926182231299]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_32","position":[-0.17480951263009048,-1.588255661095626,0.71338606911949],"aabb_xy":[[-0.18456550213926437,-1.5980181951548604],[-0.1650535231209166,-1.5784931270363916]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_33","position":[0.43386392567991616,-2.2060921090639605,0.71338606911949],"aabb_xy":[[0.4273622891719116,-2.2158599310902702],[0.44036556218792083,-2.1963242870376507]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674339313889786,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7600.png","name":"7600"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7600.png","name":"7600"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6889.png","name":"6889"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7664.png","name":"7664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/406.png","name":"406"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5956.png","name":"5956"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":660.9616677706941,"rotation_z_degrees":140.08565753777697,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005300084520316179,-0.009670271747189946,-0.014966219981871243]},{"name":"camera_2","offset_m":[-0.003762863834152714,-0.011229132811048235,0.0018656313240123928]},{"name":"camera_3","offset_m":[-0.008008862216060711,0.0025087375982405617,-0.0051180554892868105]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019738524412105697,-0.0006121224702925817,-0.0002657405914770381],"end_effector_yaw_offset_degrees":-0.7953926713328068},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017017059209123726,-0.0007816887363957955,-0.00042127987120952693],"end_effector_yaw_offset_degrees":-0.3636546663003051},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006625054984397707,-6.213789636254721e-05,0.0007984075155282131],"end_effector_yaw_offset_degrees":-0.06989725801379865}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004620790747977727,-0.004396631366535342],"position_m":[0.2164207907479777,0.01940336863346466,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002648848169148727,0.0004312565101232983],"position_m":[0.27724884816914874,-0.30716874348987666,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018146300731598534,-0.003081256530014659],"position_m":[0.16541463007315985,0.22251874346998535,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003970748715928213,0.0027732732328029685],"position_m":[0.35767074871592824,0.17097327323280295,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1fed16485549cbf0754d1593b4031b05c211f30169ed423a04d9507b57318099","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0000.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7600/tex_ceiling_textures_5956/tex_floor_textures_406/tex_table_textures_6889/tex_wall_textures_7664","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2120804094132606963,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2120804094132606963,"visual_seed":2120804094132606963,"scene_id":"lab_003","finished_at":"2026-09-04T13:42:02"} +{"episode_id":"ep_000001","started_at":"2026-09-04T13:42:07","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[0.0016921069033334346,-0.8603849883276402,0.71338606911949],"aabb_xy":[[-0.0024437494293667594,-0.8978849877719972],[0.005827963236033629,-0.8228849888832832]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.01156531651622783,1.3053834909879534,0.71338606911949],"aabb_xy":[[-0.00130658698471231,1.225383490574117],[0.024437220017167968,1.3853834914017893]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[-0.28323961293746697,-0.7318717530436063,0.71338606911949],"aabb_xy":[[-0.3482396108191148,-0.7829954167501474],[-0.21823961505581924,-0.6807480893370655]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[0.48619203159555546,-2.0171034373982084,0.71338606911949],"aabb_xy":[[0.4765603953751259,-2.0267407501779173],[0.49582366781598514,-2.0074661246184995]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.10143646010648999,-1.693681407526265,0.71338606911949],"aabb_xy":[[0.07893645986297461,-1.7058860421860371],[0.1239364603500054,-1.6814767728664932]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.49155003055141244,1.716705820401009,0.71338606911949],"aabb_xy":[[0.41155002729356954,1.636709312609025],[0.5715500338092554,1.796702328192993]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[-0.4467338393320801,-0.2966904264630177,0.71338606911949],"aabb_xy":[[-0.4771319504312237,-0.32709732846468714],[-0.4163357282329365,-0.2662835244613481]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[-0.580018508327668,-0.9143271161623847,0.71338606911949],"aabb_xy":[[-0.6350117196648047,-0.9693271165011784],[-0.5250252969905312,-0.8593271158235912]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.5105226799697185,-2.376251324900962,0.71338606911949],"aabb_xy":[[-0.5655181577903777,-2.431251326334869],[-0.45552720214905895,-2.321251323467055]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[0.29576658741359474,-0.9172063237444552,0.71338606911949],"aabb_xy":[[0.2257665852821651,-0.9399682893701508],[0.36576658954502417,-0.8944443581187594]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[-0.29400340446917056,1.4358157727321506,0.71338606911949],"aabb_xy":[[-0.34348382568312935,1.371815774819299],[-0.24452298325521177,1.4998157706450026]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[0.5038908409066456,1.3007181762642581,0.71338606911949],"aabb_xy":[[0.4138908441710354,1.2475347129469636],[0.5938908376422558,1.3539016395815526]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.4321429083329722,0.5463983941238486,0.71338606911949],"aabb_xy":[[0.4272993135717422,0.5415467416448645],[0.43698650309420217,0.5512500466028327]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.5970343401105749,-2.1441031084779887,0.71338606911949],"aabb_xy":[[-0.6147099706991731,-2.161783324757391],[-0.5793587095219764,-2.1264228921985855]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[-0.012408449449296977,-1.8039445981332607,0.71338606911949],"aabb_xy":[[-0.05517515632871717,-1.8679446015550631],[0.030358257430123214,-1.7399445947114582]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.15509058813523846,-0.42225811258601276,0.71338606911949],"aabb_xy":[[-0.1725905872696056,-0.4321377396236005],[-0.13759058900087126,-0.4123784855484249]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[0.49590408622275417,-1.0428005942852219,0.71338606911949],"aabb_xy":[[0.48674420727887757,-1.0493318123287587],[0.5050639651666308,-1.0362693762416846]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[0.2435513861530736,1.6559997422487212,0.71338606911949],"aabb_xy":[[0.1735513845507941,1.6425669490470638],[0.3135513877553531,1.669432535450379]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[-0.2511957544167013,-0.11028674496182722,0.71338606911949],"aabb_xy":[[-0.3151957530032737,-0.15729370836133594],[-0.18719575583012876,-0.06327978156231849]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[0.030607283917988948,0.72237009944558,0.71338606911949],"aabb_xy":[[-0.05439271449943428,0.6374958039832951],[0.11560728233541218,0.807244394907865]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696165936743618,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4816.png","name":"4816"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4816.png","name":"4816"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9607.png","name":"9607"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3192.png","name":"3192"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4670.png","name":"4670"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8262.png","name":"8262"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":668.5293632757503,"rotation_z_degrees":269.06386787146545,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01588184626005223,0.0012620808576309511,-0.006386120769916985]},{"name":"camera_2","offset_m":[-0.01528149474270725,-0.01322084879121896,0.012166521908900402]},{"name":"camera_3","offset_m":[0.007194476358492564,-0.010827918924677729,-0.01498533560660065]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018775946057670492,-0.0019295013256203585,-0.0001071131739492524],"end_effector_yaw_offset_degrees":-0.22123415125872192},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00024311007227143053,-0.0015243454694118714,-0.0016057968879180176],"end_effector_yaw_offset_degrees":-0.4265171461262449},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016830031879698701,-0.000570432661379484,0.0009925920305388948],"end_effector_yaw_offset_degrees":-0.24673671998046842}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009839552465326744,-0.003926217582839936],"position_m":[0.21278395524653265,0.019873782417160066,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004254944856319786,-0.0026364850471170044],"position_m":[0.27034505514368024,-0.310236485047117,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001059336958813781,-0.0013986408295019138],"position_m":[0.16465933695881377,0.22420135917049808,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017037382900517328,-0.000587060241597338],"position_m":[0.3519962617099483,0.16761293975840266,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"67a30bf52b6e633a23fde07f4f1fb7428e648d241fc775959fb9dfcf890688f1","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0001.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4816/tex_ceiling_textures_8262/tex_floor_textures_4670/tex_table_textures_9607/tex_wall_textures_3192","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":349369547720437119,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":349369547720437119,"visual_seed":349369547720437119,"scene_id":"lab_003","finished_at":"2026-09-04T13:45:07"} +{"episode_id":"ep_000002","started_at":"2026-09-04T13:45:11","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[0.10039454663550129,-2.157924648936377,0.71338606911949],"aabb_xy":[[0.05039953567604927,-2.207924647971969],[0.15038955759495332,-2.1079246499007858]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[-0.3822026671438898,-1.5749964487910366,0.71338606911949],"aabb_xy":[[-0.38683778229612314,-1.578863783868185],[-0.3775675519916563,-1.5711291137138879]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.09016281060090092,-2.5406383331914184,0.71338606911949],"aabb_xy":[[0.07582838547473748,-2.552698548745957],[0.10449723572706439,-2.528578117636879]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[0.4334427336120428,1.5877815600737821,0.71338606911949],"aabb_xy":[[0.42541646298141683,1.5790300650964297],[0.4414690042426688,1.596533055051135]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.4338999797329106,0.40950985862658396,0.71338606911949],"aabb_xy":[[0.3698999778205683,0.3535987093685735],[0.497899981645253,0.4654210078845944]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[0.19138529205160804,-2.4445663345580435,0.71338606911949],"aabb_xy":[[0.18541875311087225,-2.4505274792174077],[0.19735183099234382,-2.4386051898986794]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.10987177707002205,-1.54184189226608,0.71338606911949],"aabb_xy":[[0.0899807371896818,-1.554497703550777],[0.1297628169503623,-1.5291860809813833]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.412152790451615,0.9410607940756983,0.71338606911949],"aabb_xy":[[-0.42969948536773395,0.903560792511447],[-0.3946060955354961,0.9785607956399496]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.4647878728728805,-0.6687612658511073,0.71338606911949],"aabb_xy":[[-0.5547878725960546,-0.691834618386287],[-0.37478787314970624,-0.6456879133159273]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.5056253555815469,-0.809180528176263,0.71338606911949],"aabb_xy":[[0.464607412195176,-0.8591805288072203],[0.5466432989679177,-0.7591805275453056]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[-0.3080072451913501,-2.487294660617348,0.71338606911949],"aabb_xy":[[-0.35800724614188284,-2.5188438076208692],[-0.2580072442408172,-2.4557455136138264]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.6187718527979544,-0.15650081426636975,0.71338606911949],"aabb_xy":[[0.5837718545278345,-0.1635749419613579],[0.6537718510680743,-0.14942668657138158]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[0.4321008542361118,-0.6906798217755312,0.71338606911949],"aabb_xy":[[0.41745744868207874,-0.7053385414323154],[0.4467442597901447,-0.676021102118747]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.09542816365041429,-2.3728161720739696,0.71338606911949],"aabb_xy":[[-0.18042816206783752,-2.4576904675362545],[-0.010428165232991046,-2.2879418766116846]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[0.3429907061995461,-2.564112622674921,0.71338606911949],"aabb_xy":[[0.3247848825382984,-2.5751380232569128],[0.36119652986079376,-2.5530872220929295]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[-0.5328051527017563,-1.0440212242045959,0.71338606911949],"aabb_xy":[[-0.5968051547514884,-1.0841157072939038],[-0.46880515065202444,-1.003926741115288]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.362518337420243,-1.5300183950814226,0.71338606911949],"aabb_xy":[[0.3275183374437472,-1.5394830111290394],[0.39751833739673886,-1.5205537790338062]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[-0.1793352155620319,-1.089063974593283,0.71338606911949],"aabb_xy":[[-0.19961951828543065,-1.1093465997359917],[-0.15905091283863312,-1.068781349450574]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.27787809750865233,0.26872312611649063,0.71338606911949],"aabb_xy":[[-0.3273585187226111,0.2047231282036388],[-0.22839767629469354,0.33272312402934245]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[0.3527579263953837,-2.1766708191880246,0.71338606911949],"aabb_xy":[[0.3462562898873791,-2.1864386412143344],[0.35925956290338834,-2.166902997161715]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[-0.12353824236789168,1.3644946788195118,0.71338606911949],"aabb_xy":[[-0.2035320659464499,1.28449467622667],[-0.043544418789333475,1.4444946814123532]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[0.15282614313730913,-1.7708778166500214,0.71338606911949],"aabb_xy":[[0.09282614262945622,-1.8277245503359425],[0.21282614364516206,-1.7140310829641]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[0.17524994347518863,1.579362502810476,0.71338606911949],"aabb_xy":[[0.15024994420322635,1.563017139214314],[0.2002499427471509,1.5957078664066386]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.05912690317138303,0.8460275401024577,0.71338606911949],"aabb_xy":[[-0.002463856052609792,0.7820275419934108],[0.12071766239537585,0.9100275382115046]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[0.4024359790502676,-1.2496514327488353,0.71338606911949],"aabb_xy":[[0.3849359797721807,-1.2669895328151812],[0.41993597832835444,-1.2323133326824893]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[-0.6333353424835845,-1.3427719050916138,0.71338606911949],"aabb_xy":[[-0.6833353437674243,-1.392750759482236],[-0.5833353411997444,-1.2927930507009917]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[-0.6001721451471009,1.0157894224490818,0.71338606911949],"aabb_xy":[[-0.6473015241489364,0.9517894214046798],[-0.553042766145265,1.0797894234934837]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_27","position":[0.49468723617344135,-1.417235364443153,0.71338606911949],"aabb_xy":[[0.4886502231727767,-1.423262065512101],[0.5007242491741062,-1.4112086633742045]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[-0.4218131214379039,-1.9608089415655483,0.71338606911949],"aabb_xy":[[-0.44432681326136103,-2.030808942166556],[-0.39929942961444664,-1.8908089409645406]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[0.18610581770629864,-1.9719961959419408,0.71338606911949],"aabb_xy":[[0.17553833804819963,-1.982541226054949],[0.19667329736439765,-1.961451165828932]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_30","position":[-0.4515295547762256,-2.381244103291375,0.71338606911949],"aabb_xy":[[-0.4603316100851982,-2.3890554294463042],[-0.44272749946725276,-2.373432777136446]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_31","position":[-0.6718210932119282,1.776132206546729,0.71338606911949],"aabb_xy":[[-0.6766646879731583,1.771280554067745],[-0.6669774984506983,1.7809838590257132]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_32","position":[-0.49142589917090784,-1.7628293075057517,0.71338606911949],"aabb_xy":[[-0.5814259015049269,-1.8403116620908644],[-0.4014258968368888,-1.685346952920639]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6731444902725141,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4671.png","name":"4671"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4671.png","name":"4671"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8106.png","name":"8106"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/841.png","name":"841"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4652.png","name":"4652"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7203.png","name":"7203"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":553.8716245849375,"rotation_z_degrees":246.95808760705125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019831704640985114,-0.01226767551021883,0.0035243493891897355]},{"name":"camera_2","offset_m":[0.00888198181545017,-0.008270850466466308,0.0005789964383793936]},{"name":"camera_3","offset_m":[-0.0005629113051492905,-0.01597977550017418,-0.0031811726833671713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006325764441673582,0.0010122335807175283,0.0014626008192844698],"end_effector_yaw_offset_degrees":0.5090461577873076},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007561736607033334,-0.00032981031946566664,0.001850004642933458],"end_effector_yaw_offset_degrees":-0.576321263973063},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001893542593141666,-0.001231477548817105,0.001474385897126338],"end_effector_yaw_offset_degrees":-0.16344341413632346}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037347801601846703,-0.0013442620638739787],"position_m":[0.21553478016018465,0.022455737936126024,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010176599101504443,-0.004058828313827131],"position_m":[0.27358234008984955,-0.31165882831382713,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038127575091221055,-0.00022056218218218047],"position_m":[0.1597872424908779,0.2253794378178178,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012563687283518197,-0.0005266431052353996],"position_m":[0.3524436312716482,0.1676733568947646,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"45486baa6ea823298120f737cbd46c1b840e07ffbb38b415ce160b94622755bb","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4671/tex_ceiling_textures_7203/tex_floor_textures_4652/tex_table_textures_8106/tex_wall_textures_841","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5852847967191774832,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5852847967191774832,"visual_seed":5852847967191774832,"scene_id":"lab_003","finished_at":"2026-09-04T13:47:49"} +{"episode_id":"ep_000003","started_at":"2026-09-04T13:47:53","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.6401709966169069,0.056106554513414064,0.71338606911949],"aabb_xy":[[0.5901709955977718,0.019640338775586134],[0.6901709976360423,0.09257277025124201]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.29804728596762453,0.13918438900188335,0.71338606911949],"aabb_xy":[[-0.3620472851373944,0.09241770188292085],[-0.23404728679785455,0.1859510761208458]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.33774202982744633,0.40230344234746873,0.71338606911949],"aabb_xy":[[-0.3464399921181616,0.39017846803999406],[-0.32904406753673104,0.4144284166549435]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.3785755606778699,-0.4415986852492746,0.71338606911949],"aabb_xy":[[-0.3879930352477327,-0.4510148623869936],[-0.3691580861080072,-0.43218250811155556]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[-0.5543177615178639,-1.7956440957066953,0.71338606911949],"aabb_xy":[[-0.6042951783831174,-1.8456440971959438],[-0.5043403446526102,-1.7456440942174467]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.1515194682654778,-0.7412623031093413,0.71338606911949],"aabb_xy":[[-0.20151946770567342,-0.7912302275936575],[-0.10151946882528218,-0.6912943786250249]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[-0.12380386543236466,-1.75386288541768,0.71338606911949],"aabb_xy":[[-0.1938038672411101,-1.7752166541818677],[-0.05380386362361922,-1.732509116653493]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[0.263196680122479,1.7054637570387396,0.71338606911949],"aabb_xy":[[0.19919667974494537,1.6557184901879272],[0.3271966805000126,1.7552090238895517]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[0.007123326418716269,1.2903698017705363,0.71338606911949],"aabb_xy":[[-0.06287667621787008,1.2702649367746708],[0.07712332905530261,1.3104746667664018]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.38249554740717473,-0.5741455261849548,0.71338606911949],"aabb_xy":[[0.35003384652524716,-0.6042783582998573],[0.4149572482891021,-0.5440126940700521]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.47874436105794405,0.7483779018055126,0.71338606911949],"aabb_xy":[[-0.5199931720878586,0.6933779022932951],[-0.4374955500280292,0.80337790131773]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.08498904263935925,-1.3367769795928006,0.71338606911949],"aabb_xy":[[0.059989043087620764,-1.3469194634579353],[0.10998904219109773,-1.326634495727666]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.6286037851756138,-0.2615888502806829,0.71338606911949],"aabb_xy":[[-0.6786037855361797,-0.31156883749028585],[-0.5786037848150476,-0.21160886307107998]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[-0.11442904003274934,0.09284303584050368,0.71338606911949],"aabb_xy":[[-0.1519290408247448,0.08647519488231357],[-0.07692903924075388,0.09921087679869377]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[-0.5226015929107976,-1.038977134488878,0.71338606911949],"aabb_xy":[[-0.5451152847342547,-1.1089771350898856],[-0.5000879010873404,-0.9689771338878705]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.23515551832917359,-0.46549311185618425,0.71338606911949],"aabb_xy":[[-0.2431918530304584,-0.473531231160601],[-0.22711918362788872,-0.4574549925517674]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.41416703341878697,-0.5499503306109861,0.71338606911949],"aabb_xy":[[-0.46416014552797885,-0.5999503312851817],[-0.36417392130959503,-0.49995032993679045]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.15109180015481793,-2.3705112224186933,0.71338606911949],"aabb_xy":[[-0.1735909358810449,-2.3930112231969565],[-0.12859266442859096,-2.34801122164043]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[0.2906904463322032,-0.9318923963790127,0.71338606911949],"aabb_xy":[[0.22669044465420585,-0.9804097878583268],[0.35469044801020055,-0.8833750048996983]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[-0.2889632553159344,-0.3738421551506561,0.71338606911949],"aabb_xy":[[-0.3176125876763506,-0.4024877144277319],[-0.26031392295551814,-0.3451965958735803]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.4987374183217127,0.3636587665116142,0.71338606911949],"aabb_xy":[[-0.5787374185953197,0.2907092186858975],[-0.41873741804810577,0.43660831433733094]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[-0.40166250500137574,-2.12108411884011,0.71338606911949],"aabb_xy":[[-0.4241625052448912,-2.1332887534998823],[-0.3791625047578604,-2.1088794841803384]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.25509963686271503,0.7334689626822284,0.71338606911949],"aabb_xy":[[-0.30509963781324784,0.7019198156787069],[-0.20509963591218222,0.7650181096857497]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.5632734738605272,0.15403416789609503,0.71338606911949],"aabb_xy":[[0.554492246713291,0.1452544206075649],[0.5720547010077636,0.1628139151846252]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[-0.6265409792602251,-1.4247484620608113,0.71338606911949],"aabb_xy":[[-0.6615409791562439,-1.4331226975727511],[-0.5915409793642061,-1.4163742265488715]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_25","position":[-0.16399455032355437,0.38085765718543385,0.71338606911949],"aabb_xy":[[-0.18149455058289102,0.36676611499666123],[-0.14649455006421777,0.3949491993742065]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[-0.020592437279747244,0.7086696899349247,0.71338606911949],"aabb_xy":[[-0.10059243586706666,0.6293540879967637],[0.059407561307572174,0.7879852918730855]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[0.17768693956869697,1.246072084262071,0.71338606911949],"aabb_xy":[[0.12269146174803758,1.191072082828164],[0.23268241738935636,1.3010720856959779]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[0.37500881717832346,-2.087557515689899,0.71338606911949],"aabb_xy":[[0.3406925400037055,-2.1375575156630764],[0.4093250943529414,-2.037557515716721]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_29","position":[-0.19616806654104862,-1.068625559089705,0.71338606911949],"aabb_xy":[[-0.20497012185002134,-1.076436885244634],[-0.1873660112320759,-1.0608142329347758]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_30","position":[-0.15377801228935395,0.28590430311553616,0.71338606911949],"aabb_xy":[[-0.16933378169961924,0.27035386987112897],[-0.1382222428790887,0.30145473635994335]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_31","position":[-0.5176004064370072,0.09687639679684867,0.71338606911949],"aabb_xy":[[-0.5475920691708775,0.06687639746004814],[-0.4876087437031369,0.1268763961336492]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_32","position":[-0.051269179386981056,1.7742139684202995,0.71338606911949],"aabb_xy":[[-0.05723571832771684,1.7682528237609354],[-0.04530264044624526,1.7801751130796637]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_33","position":[0.5577027537583108,-0.3229847256206111,0.71338606911949],"aabb_xy":[[0.5523702391036978,-0.3283090538658467],[0.5630352684129238,-0.3176603973753755]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.671907721916386,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/786.png","name":"786"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/786.png","name":"786"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6850.png","name":"6850"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7199.png","name":"7199"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3539.png","name":"3539"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":507.08929095836726,"rotation_z_degrees":330.4092086622181,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015064599159478224,-0.018407229524771605,0.006193741381255374]},{"name":"camera_2","offset_m":[0.0017301308566166004,-0.0066307810124864065,0.01902836221237564]},{"name":"camera_3","offset_m":[-0.010888750862614045,0.0023059235189389245,-0.015337656793028006]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002769016923710836,0.00024375746853186895,-0.0013773611918357625],"end_effector_yaw_offset_degrees":-0.43560372681379067},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00015915490833490328,-0.001396051987904579,0.0003483856409294485],"end_effector_yaw_offset_degrees":-0.5252892941553498},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017188754996002218,-0.0014940632224001247,0.0012522811235125358],"end_effector_yaw_offset_degrees":0.260938254988347}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031705300012113977,-0.0005611963142060916],"position_m":[0.21497053000121139,0.02323880368579391,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005397628343532159,0.001647539209283194],"position_m":[0.2751397628343532,-0.3059524607907168,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006821332800886716,0.002357364256893383],"position_m":[0.16291786671991132,0.2279573642568934,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005946597336743123,-0.0001988966562716443],"position_m":[0.3542946597336743,0.16800110334372834,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bc0b843144c1d151473d5192880372573fdd348fd6bc075c925181beb81cf78a","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_786/tex_ceiling_textures_3539/tex_floor_textures_7199/tex_table_textures_3902/tex_wall_textures_6850","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2262483068308937955,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2262483068308937955,"visual_seed":2262483068308937955,"scene_id":"lab_003","finished_at":"2026-09-04T13:50:31"} +{"episode_id":"ep_000004","started_at":"2026-09-04T13:50:34","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.3451709665659812,1.0125278623785885,0.71338606911949],"aabb_xy":[[-0.3543308455098578,1.0059966443350516],[-0.3360110876221046,1.0190590804221258]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.4164700717515839,1.1037456461772286,0.71338606911949],"aabb_xy":[[-0.4409836958485897,1.0794810528751921],[-0.391956447654578,1.128010239479265]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.0893480900191087,1.200813726320228,0.71338606911949],"aabb_xy":[[-0.0974617446924858,1.192707909866199],[-0.08123443534573159,1.2089195427742572]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_3","position":[0.6769327366558147,-1.505166283965995,0.71338606911949],"aabb_xy":[[0.6298033576539789,-1.5691662850103967],[0.7240621156576502,-1.4411662829215928]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.39896074494354217,-1.5107622488875974,0.71338606911949],"aabb_xy":[[0.3089607452203679,-1.533835601422777],[0.4889607446667163,-1.4876888963524173]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[-0.40793532392383824,1.6786215497574086,0.71338606911949],"aabb_xy":[[-0.49793532625785736,1.601139195172296],[-0.31793532158981924,1.7561039043425213]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[0.253533397246426,-1.6138231432209147,0.71338606911949],"aabb_xy":[[0.2160333986708052,-1.6265594388844726],[0.2910333958220468,-1.6010868475573568]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.1867328479364896,-0.9303320014710064,0.71338606911949],"aabb_xy":[[0.14923284811945603,-0.934970212782148],[0.22423284775352315,-0.9256937901598643]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.19885728171568273,0.733144222694714,0.71338606911949],"aabb_xy":[[0.13385728071518221,0.6823578575400391],[0.26385728271618325,0.783930587849389]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.3276256282319478,-1.3787899458930637,0.71338606911949],"aabb_xy":[[-0.3501256287439884,-1.4012818042584616],[-0.3051256277199072,-1.356298087527665]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[0.6272923242991715,-0.4736322896933727,0.71338606911949],"aabb_xy":[[0.5472923263183863,-0.4812338306552247],[0.7072923222799564,-0.4660307487315208]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.05319265492309255,-2.3064280944899154,0.71338606911949],"aabb_xy":[[0.018876377748474622,-2.356428094463093],[0.08750893209771049,-2.2564280945167376]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[-0.16431497340935086,1.7663149224973913,0.71338606911949],"aabb_xy":[[-0.1707287870525358,1.759905102249723],[-0.15790115976616592,1.7727247427450596]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.4086191437676061,1.7775055600644873,0.71338606911949],"aabb_xy":[[0.3748435845769131,1.7634670648513224],[0.442394702958299,1.7915440552776523]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.3336915705148906,-1.6994142395263032,0.71338606911949],"aabb_xy":[[0.31340726779149175,-1.7196968646690118],[0.3539758732382893,-1.6791316143835942]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.32830245961273624,0.8668692891539633,0.71338606911949],"aabb_xy":[[-0.3461715673671917,0.8530363811767524],[-0.3104333518582807,0.8807021971311743]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.6549693744757477,-1.7073776053172693,0.71338606911949],"aabb_xy":[[-0.6614710109837524,-1.7171454273435791],[-0.6484677379677432,-1.6976097832909596]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[-0.16594263922870645,0.8383927592772049,0.71338606911949],"aabb_xy":[[-0.18200456668722406,0.753392757464613],[-0.14988071177018877,0.9233927610897966]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[-0.25347318558449694,-2.217280094870516,0.71338606911949],"aabb_xy":[[-0.27235756935300715,-2.236166019650869],[-0.23458880181598674,-2.1983941700901632]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[-0.49304522275899765,0.9577080670321436,0.71338606911949],"aabb_xy":[[-0.526485397955017,0.9242644412012135],[-0.45960504756297793,0.9911516928630737]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[0.033643975119623803,-1.0891883562218874,0.71338606911949],"aabb_xy":[[-0.04635602813821915,-1.1691848640138713],[0.11364397837746676,-1.0091918484299034]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[0.5719706232505677,1.0068279373381408,0.71338606911949],"aabb_xy":[[0.5645581677091792,1.0009767269165128],[0.5793830787919562,1.0126791477597687]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[-0.041433864185401625,-1.3492449892414602,0.71338606911949],"aabb_xy":[[-0.10643386421970435,-1.3959456659217873],[0.023566135848901097,-1.3025443125611327]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[-0.10042217782417551,1.3156468567998663,0.71338606911949],"aabb_xy":[[-0.13792217848875415,1.2999597987996439],[-0.06292217715959678,1.3313339148000882]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_24","position":[-0.07006719711496545,-2.4924173542348846,0.71338606911949],"aabb_xy":[[-0.07710750704850246,-2.572417353634556],[-0.06302688718142847,-2.4124173548352132]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_25","position":[-0.28517507342442405,1.3824242726400042,0.71338606911949],"aabb_xy":[[-0.3491750736984022,1.3323581724427163],[-0.22117507315044577,1.4324903728372922]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[-0.4112366188883622,-1.6562109203719977,0.71338606911949],"aabb_xy":[[-0.48123662227992414,-1.6915266940754283],[-0.3412366154968002,-1.6208951466685666]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[0.4646094951450235,0.3737454464325922,0.71338606911949],"aabb_xy":[[0.43960949521250564,0.3668627782116689],[0.4896094950775414,0.38062811465351554]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[0.4924508814587165,-1.2441264002353118,0.71338606911949],"aabb_xy":[[0.47117287331524427,-1.3091264025613847],[0.5137288896021888,-1.1791263979092386]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_29","position":[-0.5618842323318012,-0.3138982704509976,0.71338606911949],"aabb_xy":[[-0.6268842349695947,-0.36537786915044457],[-0.4968842296940077,-0.26241867175155065]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_30","position":[-0.23746602023421176,-2.441191323259518,0.71338606911949],"aabb_xy":[[-0.24559370842752498,-2.450104931670226],[-0.22933833204089854,-2.4322777148488104]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_31","position":[-0.5967168704644157,0.15720265265293953,0.71338606911949],"aabb_xy":[[-0.6072843501225147,0.14665762253993098],[-0.5861493908063167,0.1677476827659481]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_32","position":[0.5223191524844384,1.7097655557030706,0.71338606911949],"aabb_xy":[[0.5119075938039546,1.7044198223671718],[0.532730711164922,1.7151112890389686]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_33","position":[0.5204308047389594,-0.7623233139040002,0.71338606911949],"aabb_xy":[[0.43074372843084396,-0.8523233141584508],[0.6101178810470749,-0.6723233136495497]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_34","position":[-0.020537140526327047,0.984222631509033,0.71338606911949],"aabb_xy":[[-0.04270966750297789,0.9620469643529096],[0.0016353864503237908,1.0063982986651558]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6708392224972889,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3050.png","name":"3050"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3050.png","name":"3050"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2948.png","name":"2948"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2683.png","name":"2683"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2638.png","name":"2638"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9442.png","name":"9442"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":751.2232462827309,"rotation_z_degrees":254.58629618007132,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005884107688826717,0.012281506472088154,-0.013590875205850152]},{"name":"camera_2","offset_m":[0.001433229958123828,0.007527117783465789,-0.009932834189015685]},{"name":"camera_3","offset_m":[0.014791157736168677,-0.009892072637630296,0.007924613365579102]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011442098687070071,0.0013521783791273804,-0.0007538705431058279],"end_effector_yaw_offset_degrees":0.8400042252480082},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002821599730627629,-0.0008814482545228218,0.0007003882744675985],"end_effector_yaw_offset_degrees":0.6035702534975458},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001837943739190568,-0.0006775898387885238,0.0019773088042487957],"end_effector_yaw_offset_degrees":0.4159868641667823}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-2.034565264770298e-05,0.0033341950198195166],"position_m":[0.2117796543473523,0.027134195019819517,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011021089997398648,0.0007876402533647789],"position_m":[0.2734978910002601,-0.30681235974663523,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022147657277197075,-0.003238439542690292],"position_m":[0.1613852342722803,0.2223615604573097,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023367389688620675,0.003881044063060804],"position_m":[0.35603673896886207,0.1720810440630608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e3bd0c44b34b524452b1d5c9a52a4ca5ba6b2b8eb654a645ad77a07e4dee6a16","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3050/tex_ceiling_textures_9442/tex_floor_textures_2638/tex_table_textures_2948/tex_wall_textures_2683","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5330891976520150253,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5330891976520150253,"visual_seed":5330891976520150253,"scene_id":"lab_003","finished_at":"2026-09-04T13:53:13"} +{"episode_id":"ep_000005","started_at":"2026-09-04T13:53:17","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.5480954684475264,-1.329085189367917,0.71338606911949],"aabb_xy":[[-0.6120954717372344,-1.3724201083718344],[-0.48409546515781826,-1.2857502703639991]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[0.5606582324187501,-2.076865622082963,0.71338606911949],"aabb_xy":[[0.519353689355014,-2.14086562165108],[0.601962775482486,-2.012865622514846]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.4287163256794029,-0.8791918672566126,0.71338606911949],"aabb_xy":[[0.4169481388847454,-0.9641918671618342],[0.44048451247406045,-0.7941918673513911]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.6184387730825862,1.3228194180878754,0.71338606911949],"aabb_xy":[[-0.6684380482510225,1.2728194168119282],[-0.5684394979141502,1.3728194193638226]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[0.2120366974932173,-2.2518949030031306,0.71338606911949],"aabb_xy":[[0.18957192752181218,-2.274394903881991],[0.23450146746462242,-2.22939490212427]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.10148655636332105,-1.81400950603678,0.71338606911949],"aabb_xy":[[0.0920690817934583,-1.823425683174499],[0.1109040309331838,-1.804593328899061]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.007215120344202797,1.0505388840788834,0.71338606911949],"aabb_xy":[[-0.0712151176465492,1.0061724571110267],[0.056784876958143604,1.0949053110467402]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[-0.09298357391220624,-1.4663469915767846,0.71338606911949],"aabb_xy":[[-0.1569835711978549,-1.5078537105296286],[-0.02898357662655758,-1.4248402726239406]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.4477889795164364,-0.8269195302715564,0.71338606911949],"aabb_xy":[[-0.5277889765306845,-0.8470540819449677],[-0.36778898250218844,-0.8067849785981451]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.3599775068056338,0.13569073181283642,0.71338606911949],"aabb_xy":[[-0.39497750511632923,0.12797571688929077],[-0.32497750849493834,0.14340574673638207]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.5277372084937111,0.11400493565248038,0.71338606911949],"aabb_xy":[[-0.6077372056532864,0.10245733469466334],[-0.4477372113341358,0.12555253661029742]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[0.5412094939671217,-0.43418411115286437,0.71338606911949],"aabb_xy":[[0.5242987615307798,-0.44765631674547884],[0.5581202264034634,-0.4207119055602498]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.23495388683646862,-0.7424126299949911,0.71338606911949],"aabb_xy":[[-0.24308157502978184,-0.7513262384056989],[-0.2268261986431554,-0.7334990215842836]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.16993125234242834,0.08032699884137484,0.71338606911949],"aabb_xy":[[-0.21993125336156366,0.043860783103546915],[-0.1199312513232931,0.1167932145792028]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[-0.5374318152688337,-0.4726793189445613,0.71338606911949],"aabb_xy":[[-0.6014318155293044,-0.5176881182974893],[-0.4734318150083628,-0.4276705195916333]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.30147541992228544,-2.033287117391928,0.71338606911949],"aabb_xy":[[0.2917194304131115,-2.0430496514511622],[0.31123140943145927,-2.0235245833326934]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[0.2550586452049969,-1.7499678548360182,0.71338606911949],"aabb_xy":[[0.19105864298458985,-1.7943409389613063],[0.3190586474254039,-1.7055947707107297]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.5981650441596185,0.8012210587157065,0.71338606911949],"aabb_xy":[[-0.6621650458376158,0.7527036672363921],[-0.5341650424816211,0.8497384501950206]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[0.5194071366297031,-1.4697020826078118,0.71338606911949],"aabb_xy":[[0.4849447892315612,-1.504195965005634],[0.5538694840278447,-1.4352082002099886]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.6205343518712274,1.1036794650593156,0.71338606911949],"aabb_xy":[[-0.6380343510055945,1.0937998380217275],[-0.6030343527368601,1.1135590920969032]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[0.21857778343229517,-1.074564820795777,0.71338606911949],"aabb_xy":[[0.2146172996625608,-1.0822326853812974],[0.22253826720202954,-1.0668969562102562]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[0.6519903878799076,-1.4687368965459175,0.71338606911949],"aabb_xy":[[0.6025099666659489,-1.5327368944587692],[0.7014708090938665,-1.4047368986330655]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[0.3731790978672358,0.5680289513909345,0.71338606911949],"aabb_xy":[[0.33726559344224605,0.5321154431741798],[0.40909260229222544,0.6039424596076891]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[0.5312965874199864,0.28734411205266586,0.71338606911949],"aabb_xy":[[0.5252019595318681,0.27877471750099714],[0.5373912153081047,0.2959135066043346]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[-0.30730237865834886,-0.36774051582361844,0.71338606911949],"aabb_xy":[[-0.3688931378823417,-0.4317405139326653],[-0.24571161943435604,-0.30374051771457156]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[0.6790658315006892,-1.953371131727669,0.71338606911949],"aabb_xy":[[0.6677040968474028,-1.9647395981339568],[0.6904275661539752,-1.9420026653213807]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6738621655735422,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/448.png","name":"448"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/448.png","name":"448"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4427.png","name":"4427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8528.png","name":"8528"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5460.png","name":"5460"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/363.png","name":"363"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":738.9876202597991,"rotation_z_degrees":171.90864365135155,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0030608404069180535,0.004062442983946594,0.010306981594715988]},{"name":"camera_2","offset_m":[-0.00179496679177309,-0.0068805530875672895,-0.012906725026094006]},{"name":"camera_3","offset_m":[0.01885887098531677,-0.004610521261880973,0.011162115304162664]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-2.4153382927276108e-05,0.00045721261137578965,0.0002876169757236205],"end_effector_yaw_offset_degrees":-0.30638632900676743},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014851918287661597,0.00019826790294226893,0.0003509510057919086],"end_effector_yaw_offset_degrees":-0.7399447342465675},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001582581609399138,-0.001672385466776869,0.001974378495864941],"end_effector_yaw_offset_degrees":-0.844737250335061}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004447992613495101,-0.0033177607969538925],"position_m":[0.2162479926134951,0.02048223920304611,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-3.8737030867554666e-05,-0.003733973484647977],"position_m":[0.27456126296913247,-0.311333973484648,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00031428524703933786,0.002447167691352844],"position_m":[0.16328571475296066,0.22804716769135283,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015452224911221392,-0.0028012103500648835],"position_m":[0.35215477750887786,0.1653987896499351,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9cbc8e74423671b84c1f2366f548339c709c8846efbb8f91b13e85d8962f1c74","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0005.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_448/tex_ceiling_textures_363/tex_floor_textures_5460/tex_table_textures_4427/tex_wall_textures_8528","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6119835056724042674,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6119835056724042674,"visual_seed":6119835056724042674,"scene_id":"lab_003","finished_at":"2026-09-04T13:56:00"} +{"episode_id":"ep_000006","started_at":"2026-09-04T13:56:02","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.17564697198732493,-1.1765880472949304,0.71338606911949],"aabb_xy":[[-0.2256243888525785,-1.2265880487841787],[-0.1256695551220713,-1.1265880458056816]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.4912545781226867,1.0725618295725745,0.71338606911949],"aabb_xy":[[0.427254581010581,1.023529459778164],[0.5552545752347924,1.1215941993669851]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[-0.08807089022408876,-1.922634968236866,0.71338606911949],"aabb_xy":[[-0.1480708910849015,-1.9740613982433521],[-0.028070889363275935,-1.8712085382303794]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[-0.1701871266744902,-0.4915050508624721,0.71338606911949],"aabb_xy":[[-0.20873281949969122,-0.5300508219186607],[-0.13164143384928914,-0.4529592798062834]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.5264218397598261,0.47145165500545616,0.71338606911949],"aabb_xy":[[0.4914218414491307,0.4637366400819105],[0.5614218380705216,0.4791666699290018]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.6362336931354086,0.3621963045609906,0.71338606911949],"aabb_xy":[[-0.6712336914055284,0.3551221768660024],[-0.6012336948652885,0.3692704322559787]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.4532425177440017,-1.3068656369733607,0.71338606911949],"aabb_xy":[[-0.4832100746538273,-1.3368656372712464],[-0.423274960834176,-1.276865636675475]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.43074325852288164,-0.4816921698193868,0.71338606911949],"aabb_xy":[[0.4164088333967182,-0.4937523853739256],[0.4450776836490451,-0.4696319542648479]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.33324232629475037,-1.2732242593710188,0.71338606911949],"aabb_xy":[[0.3279047506287458,-1.2982242603001586],[0.33857990196075494,-1.248224258441879]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.47455244119186396,1.2126007416647129,0.71338606911949],"aabb_xy":[[-0.5295524403684535,1.157611066889755],[-0.4195524420152744,1.2675904164396703]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[-0.02101855333598679,-1.4656200560108577,0.71338606911949],"aabb_xy":[[-0.0315860329940858,-1.4761650861238662],[-0.010451073677887779,-1.455075025897849]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.4506724540635081,0.5313619459929808,0.71338606911949],"aabb_xy":[[-0.460428443572682,0.5215994119337463],[-0.4409164645543342,0.5411244800522151]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.6256350575354952,-2.148767589132736,0.71338606911949],"aabb_xy":[[0.6176087869048693,-2.1575190841100884],[0.6336613281661213,-2.140016094155383]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[0.12498426663211593,-2.01399777975539,0.71338606911949],"aabb_xy":[[0.034984269896505715,-2.067181243072684],[0.21498426336772614,-1.960814316438095]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[-0.20402976747313184,1.0629954438735028,0.71338606911949],"aabb_xy":[[-0.23862085032717703,0.9979954435884718],[-0.1694386846190866,1.1279954441585338]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[-0.023159237364446916,0.6951280460249722,0.71338606911949],"aabb_xy":[[-0.0731592383835822,0.6586618302871443],[0.02684076365468836,0.7315942617628002]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[-0.14770473815077345,-0.33254888412615546,0.71338606911949],"aabb_xy":[[-0.19770473910130626,-0.36409803112967687],[-0.09770473720024064,-0.30099973712263406]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[0.3709375935941619,1.4179217216732387,0.71338606911949],"aabb_xy":[[0.33343759309680365,1.41395303812512],[0.40843759409152014,1.421890405221357]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[-0.5756756960635201,-0.6084724792019771,0.71338606911949],"aabb_xy":[[-0.630649418099853,-0.6634724787662103],[-0.5207019740271872,-0.5534724796377439]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.3904013246046394,-1.4512070058376714,0.71338606911949],"aabb_xy":[[0.372725694016041,-1.468887222117074],[0.40807695519323767,-1.4335267895582684]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.07018677547651164,0.45294592972569747,0.71338606911949],"aabb_xy":[[-0.12518677509825749,0.39796223693822474],[-0.0151867758547658,0.5079296225131702]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.5243848141225768,-0.019611891240495893,0.71338606911949],"aabb_xy":[[-0.5743848154064166,-0.06959074563111799],[-0.47438481283873674,0.030366963150126214]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.6974642462443024,-0.10950338279561267,0.71338606911949],"aabb_xy":[[0.6729506221472965,-0.13376797609764912],[0.7219778703413082,-0.08523878949357622]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6713554487460234,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5083.png","name":"5083"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5083.png","name":"5083"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6194.png","name":"6194"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9041.png","name":"9041"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7561.png","name":"7561"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/543.png","name":"543"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":816.2511113228741,"rotation_z_degrees":22.34323772460733,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014660534550464486,-0.0016519319456608644,-0.0054697724091661865]},{"name":"camera_2","offset_m":[0.011305715474062315,0.01625825149391105,0.01512345219017448]},{"name":"camera_3","offset_m":[0.013968354339573674,-0.01672657103050081,-0.0015056394697674363]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004147869312555218,-0.001420806476253914,-0.0019233701529301097],"end_effector_yaw_offset_degrees":-0.0016085254801458948},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013169780378871772,-0.001391636505396034,0.001805501663976724],"end_effector_yaw_offset_degrees":0.9169051463147113},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015523195663275507,-0.0018562689672195973,0.0019643095449244736],"end_effector_yaw_offset_degrees":0.2253304736608226}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003147194354868158,0.0008288357533438005],"position_m":[0.20865280564513183,0.024628835753343802,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015125287305647198,0.00477936433381189],"position_m":[0.27611252873056474,-0.3028206356661881,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00301041004049083,0.001136733950062272],"position_m":[0.16661041004049082,0.22673673395006227,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00010504454034705388,-0.003394017770123119],"position_m":[0.35380504454034706,0.16480598222987686,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"868d4cc22f86136b516ade6f9a26d54817d795719ee781d490c725f16eecb6b3","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5083/tex_ceiling_textures_543/tex_floor_textures_7561/tex_table_textures_6194/tex_wall_textures_9041","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5309683665573073678,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5309683665573073678,"visual_seed":5309683665573073678,"scene_id":"lab_003","finished_at":"2026-09-04T13:59:26"} +{"episode_id":"ep_000007","started_at":"2026-09-04T13:59:30","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[0.1888802247925654,0.6294424615372001,0.71338606911949],"aabb_xy":[[0.16259140047212473,0.6031710278825488],[0.21516904911300605,0.6557138951918513]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[0.42363724117501556,-1.4592025060347664,0.71338606911949],"aabb_xy":[[0.4143436229378649,-1.4967025045229],[0.4329308594121661,-1.4217025075466323]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[0.038210619939375245,-2.3215882049259857,0.71338606911949],"aabb_xy":[[0.01571062012547287,-2.3260628212964662],[0.060710619753277635,-2.317113588555505]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.4698935466636218,1.581260106167432,0.71338606911949],"aabb_xy":[[0.432393546371447,1.5772186307668286],[0.5073935469557966,1.5853015815680356]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.4214129702059797,1.4383292444977749,0.71338606911949],"aabb_xy":[[-0.5014129681867647,1.430727703535923],[-0.3414129722251946,1.4459307854596268]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.08891497409376836,-0.8745510736452051,0.71338606911949],"aabb_xy":[[-0.09334560344860855,-0.8799994453798877],[-0.0844843447389282,-0.8691027019105225]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.6111839816994229,-1.1343411941685169,0.71338606911949],"aabb_xy":[[-0.6482180911274825,-1.168718401502226],[-0.574149872271363,-1.0999639868348072]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.3648324222787587,1.1037001322606121,0.71338606911949],"aabb_xy":[[0.31485361376844273,1.0537001322548933],[0.4148112307890745,1.153700132266331]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.41240802561718576,-1.7574411449402385,0.71338606911949],"aabb_xy":[[-0.4343167077565368,-1.779341811760329],[-0.3904993434778347,-1.7355404781201476]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[0.5645511437259165,-1.3630295368319372,0.71338606911949],"aabb_xy":[[0.5400375196289107,-1.3872941301339736],[0.5890647678229224,-1.3387649435299007]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[0.29969937751876197,-0.9876158867225069,0.71338606911949],"aabb_xy":[[0.2870966783816855,-1.0002112829473724],[0.3123020766558384,-0.9750204904976414]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.6170307234803619,1.768409247062746,0.71338606911949],"aabb_xy":[[-0.6670299986487981,1.7184092457867988],[-0.5670314483119258,1.818409248338693]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.38927942779101465,-0.07284141707801961,0.71338606911949],"aabb_xy":[[-0.41177942780116294,-0.08693763671762289],[-0.36677942778086636,-0.05874519743841633]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[-0.0753028287030365,-1.1574845126519662,0.71338606911949],"aabb_xy":[[-0.13930283011102718,-1.2092734641758907],[-0.011302827295045849,-1.1056955611280412]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[0.6074390828258223,1.479155230852173,0.71338606911949],"aabb_xy":[[0.5822182459659825,1.453931479999286],[0.6326599196856618,1.5043789817050595]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.5555700923917741,-1.0772224817295952,0.71338606911949],"aabb_xy":[[0.4915700930976059,-1.1412086220984492],[0.6195700916859423,-1.0132363413607408]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.4155108725552921,-1.4792041539671974,0.71338606911949],"aabb_xy":[[-0.42431292786426483,-1.4870154801221263],[-0.4067088172463194,-1.471392827812268]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.5627540839227556,-1.493270401661138,0.71338606911949],"aabb_xy":[[-0.5972164313208972,-1.5277642840589603],[-0.5282917365246136,-1.4587765192633149]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[0.4943009044358617,0.680730880074746,0.71338606911949],"aabb_xy":[[0.459300904459366,0.6712662640271294],[0.5293009044123577,0.6901954961223626]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[-0.23134381058118642,-1.6153236451686286,0.71338606911949],"aabb_xy":[[-0.2502281943496966,-1.6342095699489816],[-0.2124594268126762,-1.596437720388276]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.5378928196018984,-0.9624111756517999,0.71338606911949],"aabb_xy":[[0.5318558066012338,-0.9684378767207483],[0.5439298326025632,-0.9563844745828519]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_21","position":[-0.5489046681098646,0.1146991588704176,0.71338606911949],"aabb_xy":[[-0.5916713749892848,0.050699155448615155],[-0.5061379612304444,0.17869916229222005]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[0.09038313231110617,1.08903839952248,0.71338606911949],"aabb_xy":[[0.08075149609067657,1.079401086742771],[0.1000147685315358,1.0986757123021889]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_23","position":[-0.44580865919359935,0.1771677115297372,0.71338606911949],"aabb_xy":[[-0.45044377434583266,0.17330037645258853],[-0.44117354404136594,0.18103504660688582]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6706008254463258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8013.png","name":"8013"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8013.png","name":"8013"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3051.png","name":"3051"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9706.png","name":"9706"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6632.png","name":"6632"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":768.3632477601726,"rotation_z_degrees":1.2664269467362255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0011599132183858878,0.01732435927323565,0.000861214541637477]},{"name":"camera_2","offset_m":[-0.015782538223836004,0.014929509333743842,0.00399900093563953]},{"name":"camera_3","offset_m":[-0.0019341999552374804,-0.017479240499313424,0.01578283734625024]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006866779545239338,-0.001955338855244654,9.466247015332656e-05],"end_effector_yaw_offset_degrees":-0.9596164399894642},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004470758990749379,0.000839236149164097,0.0010696319941467624],"end_effector_yaw_offset_degrees":-0.22226659961001216},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011048539352704213,0.0015383816952566874,0.0018041929083672257],"end_effector_yaw_offset_degrees":0.19475972882058512}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001147762097400775,-0.0014748329485946934],"position_m":[0.2106522379025992,0.022325167051405307,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002816176345375289,0.004019358141989392],"position_m":[0.27488161763453756,-0.3035806418580106,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002618363337049692,-0.0014508631646115724],"position_m":[0.16098163666295032,0.22414913683538842,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00094134520379212,0.0019921108834408067],"position_m":[0.3527586547962079,0.1701921108834408,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"918b66052501e6dcc7e6ddb1f363098050cc2cd03c3a9012c0547df9f561aed9","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8013/tex_ceiling_textures_6632/tex_floor_textures_9706/tex_table_textures_6903/tex_wall_textures_3051","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":413121471595941558,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":413121471595941558,"visual_seed":413121471595941558,"scene_id":"lab_003","finished_at":"2026-09-04T14:02:21"} +{"episode_id":"ep_000008","started_at":"2026-09-04T14:02:24","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[0.19656655387747124,-2.2586605026927185,0.71338606911949],"aabb_xy":[[0.1325665505877631,-2.301995421696635],[0.2605665571671793,-2.2153255836888]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[0.41070212084976676,1.3962717244520424,0.71338606911949],"aabb_xy":[[0.3696841774633959,1.3462717238210848],[0.45172006423613764,1.4462717250829995]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.4041998419587788,0.2522658563851339,0.71338606911949],"aabb_xy":[[-0.43866231997186655,0.24560217920221095],[-0.369737363945691,0.2589295335680566]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[-0.5435399308361597,1.3303249142687883,0.71338606911949],"aabb_xy":[[-0.5935399324976542,1.2803264720130854],[-0.49353992917466477,1.3803233565244908]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[-0.07138265666418686,-0.5009955087494271,0.71338606911949],"aabb_xy":[[-0.09638265659670477,-0.5078781769703504],[-0.046382656731668984,-0.4941128405285038]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.6488025298263111,1.5650858426523118,0.71338606911949],"aabb_xy":[[-0.6616744333272513,1.4850858422384756],[-0.635930626325371,1.645085843066148]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.3318410459281567,0.584047451914905,0.71338606911949],"aabb_xy":[[-0.34934104618749334,0.5699559097261325],[-0.3143410456688201,0.5981389941036778]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.1672500534050566,0.4088972559617199,0.71338606911949],"aabb_xy":[[-0.17283172503918534,0.3963972561439443],[-0.16166838177092782,0.42139725577949527]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.3853752535262657,-1.2536111084610928,0.71338606911949],"aabb_xy":[[-0.430653868407415,-1.3176111078092765],[-0.34009663864511647,-1.1896111091129091]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[0.5174166516077563,-0.45943208638879085,0.71338606911949],"aabb_xy":[[0.4534166544956505,-0.5084644561832015],[0.5814166487198619,-0.41039971659438024]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.32465476464381654,1.3846070235658803,0.71338606911949],"aabb_xy":[[-0.34220145955993553,1.347107022001629],[-0.30710806972769766,1.4221070251301315]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.6016605943659125,0.24881504600693427,0.71338606911949],"aabb_xy":[[-0.6516435445533917,0.19881504636437383],[-0.551677644178433,0.2988150456494946]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[0.5573007188737777,-0.8413403806132038,0.71338606911949],"aabb_xy":[[0.4873007170650322,-0.8626941493773913],[0.6273007206825231,-0.8199866118490166]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.6904457074733548,-2.06445295621263,0.71338606911949],"aabb_xy":[[0.6863297573612821,-2.0685685112454752],[0.6945616575854274,-2.060337401179784]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[0.6340907961887479,-1.080155293981919,0.71338606911949],"aabb_xy":[[0.584095785229296,-1.130155293017511],[0.6840858071482,-1.0301552949463275]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[0.7086121640406957,1.412881325792998,0.71338606911949],"aabb_xy":[[0.6966794296788676,1.4004991729851386],[0.7205448984025238,1.4252634786008573]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.5084994660082798,-2.3874534136209076,0.71338606911949],"aabb_xy":[[0.4444994643302824,-2.435970805100222],[0.5724994676862771,-2.3389360221415934]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.38293836956970373,-2.2665675294346084,0.71338606911949],"aabb_xy":[[0.34793836821822205,-2.2869272653914288],[0.4179383709211855,-2.246207793477787]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.49216950968264483,1.6295499790216383,0.71338606911949],"aabb_xy":[[0.4828758914454942,1.5920499805335047],[0.5014631279197954,1.6670499775097725]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[-0.47594849920794435,-2.1423011986976164,0.71338606911949],"aabb_xy":[[-0.525943332135886,-2.19230119759286],[-0.4259536662800028,-2.092301199802373]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[0.007206708956292163,-1.4475000785657717,0.71338606911949],"aabb_xy":[[-0.07279328963102726,-1.5268156805039323],[0.08720670754361158,-1.3681844766276106]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[0.1976261031925206,-0.7515357723166414,0.71338606911949],"aabb_xy":[[0.1619969472925609,-0.7871684390734943],[0.23325525909248038,-0.7159031055597884]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[0.533501510958323,-2.070927013089641,0.71338606911949],"aabb_xy":[[0.4735015107069218,-2.1252083381261055],[0.5935015112097242,-2.0166456880531767]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[0.6160216059446793,-2.522199145074251,0.71338606911949],"aabb_xy":[[0.5786903294194365,-2.556852199869103],[0.6533528824699217,-2.4875460902793987]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_24","position":[0.24370451874907784,-1.2320330712375425,0.71338606911949],"aabb_xy":[[0.21537480880053764,-1.2364938134312597],[0.27203422869761806,-1.2275723290438256]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[0.2882376058788412,-0.9064850084152649,0.71338606911949],"aabb_xy":[[0.2507376074554408,-0.9196492223830953],[0.3257376043022415,-0.8933207944474341]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_26","position":[0.10183504003989818,-0.995803825814245,0.71338606911949],"aabb_xy":[[0.0755462157194575,-1.022075259468896],[0.1281238643603388,-0.9695323921595936]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[-0.1205530062024055,-1.7003220277033506,0.71338606911949],"aabb_xy":[[-0.13723014219550098,-1.717021951677281],[-0.10387587020930997,-1.6836221037294206]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6736096207313671,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3536.png","name":"3536"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3536.png","name":"3536"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1688.png","name":"1688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9825.png","name":"9825"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2881.png","name":"2881"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4183.png","name":"4183"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":611.2504850250525,"rotation_z_degrees":250.21786924275855,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011321820222250461,-0.0068861201275767486,-0.007806096274342691]},{"name":"camera_2","offset_m":[0.010551991130616035,0.005094518142763883,0.009002058338246112]},{"name":"camera_3","offset_m":[-0.005628558996294091,0.002243790448721472,-0.019035521062634574]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009958908706308384,-0.0012239407958505866,0.0017112944388491791],"end_effector_yaw_offset_degrees":0.8374734650050386},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012595259489967662,-0.001259649710609245,-0.0017036514242512939],"end_effector_yaw_offset_degrees":-0.8510960701989003},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005324063247953608,0.0014257721425242984,-0.001572778546557653],"end_effector_yaw_offset_degrees":-0.1387001590283623}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0021732450241883604,-0.0047254187377882275],"position_m":[0.21397324502418835,0.019074581262211773,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035052903785872105,0.0037248635962998317],"position_m":[0.2781052903785872,-0.3038751364037002,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004724608116110396,-0.003403079029553566],"position_m":[0.16832460811611039,0.22219692097044644,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003765105214519486,-0.004052617383478956],"position_m":[0.3574651052145195,0.16414738261652104,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"09995d83a04a68f2996df862f9c45ad5feaaaebe97940142351dbfbddc7ba2bb","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3536/tex_ceiling_textures_4183/tex_floor_textures_2881/tex_table_textures_1688/tex_wall_textures_9825","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8286715723336754671,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8286715723336754671,"visual_seed":8286715723336754671,"scene_id":"lab_003","finished_at":"2026-09-04T14:05:10"} +{"episode_id":"ep_000009","started_at":"2026-09-04T14:05:13","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.08256518224146148,0.36234070899106685,0.71338606911949],"aabb_xy":[[-0.14656518364945215,0.31055175746714214],[-0.018565180833470817,0.41412966051499156]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[-0.6499972460697554,-0.972534426838144,0.71338606911949],"aabb_xy":[[-0.6631484920410449,-0.9975344265948306],[-0.6368460000984661,-0.9475344270814575]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.5913711235634547,1.0370111681030139,0.71338606911949],"aabb_xy":[[0.5691985965868038,1.0148355009468908],[0.6135436505401055,1.059186835259137]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_3","position":[0.09583042742876202,-2.313955759325186,0.71338606911949],"aabb_xy":[[0.04083042825217252,-2.3689454341001426],[0.1508304266053515,-2.2589660845502273]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.1562879788235404,-1.456746888953384,0.71338606911949],"aabb_xy":[[0.13128797965790726,-1.4636991346587405],[0.18128797798917348,-1.4497946432480273]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[0.15086731059405367,1.197268747597494,0.71338606911949],"aabb_xy":[[0.13336731145968647,1.1873891205599059],[0.16836730972842082,1.2071483746350815]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.5417241992305271,-0.8283746547621991,0.71338606911949],"aabb_xy":[[0.537293569875687,-0.8338230264968817],[0.5461548285853673,-0.8229262830275165]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.17511991007412697,0.02524115449872877,0.71338606911949],"aabb_xy":[[-0.2101199083848224,0.017526139575183116],[-0.1401199117634315,0.03295616942227442]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[0.4544026306084201,1.7497865847079797,0.71338606911949],"aabb_xy":[[0.39677216172114915,1.6897865857812686],[0.5120330994956909,1.8097865836346898]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.18604757529519378,-1.871470321671556,0.71338606911949],"aabb_xy":[[0.10605375171663556,-1.9514703242643976],[0.266041398873752,-1.7914703190787145]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[0.38548689436012773,0.71213932228408,0.71338606911949],"aabb_xy":[[0.32148689705778133,0.6677728953162232],[0.44948689166247413,0.7565057492519367]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.24103260218927208,-2.5703178744589747,0.71338606911949],"aabb_xy":[[-0.24514855230134472,-2.5744334294918194],[-0.2369166520771994,-2.5662023194261283]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.3370304053835773,-1.51018296689034,0.71338606911949],"aabb_xy":[[0.27303040621380736,-1.5569496540093024],[0.40103040455334726,-1.4634162797713774]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[0.36310289076269453,-1.7314770565669404,0.71338606911949],"aabb_xy":[[0.34321185088235423,-1.7441328678516377],[0.3829939306430348,-1.718821245282244]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.183073080667703,0.6639442424230713,0.71338606911949],"aabb_xy":[[-0.19128762578338696,0.6552676521254298],[-0.174858535552019,0.6726208327207125]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[0.17809517390094376,-1.29936229851078,0.71338606911949],"aabb_xy":[[0.09809517343072785,-1.3076730061251283],[0.25809517437115975,-1.2910515908964317]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[0.4908402706577448,-1.7368578911069021,0.71338606911949],"aabb_xy":[[0.4810842811485708,-1.7466204251661364],[0.5005962601669186,-1.7270953570476675]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.40027678214046725,-2.3466775576235697,0.71338606911949],"aabb_xy":[[-0.4221854642798182,-2.3685782244436604],[-0.3783681000011161,-2.324776890803479]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.3715720572389909,-1.9824212113705242,0.71338606911949],"aabb_xy":[[0.354025362322872,-2.0199212129347757],[0.3891187521551099,-1.944921209806273]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[0.5758094505392142,1.4466980813079746,0.71338606911949],"aabb_xy":[[0.5718489667694797,1.439030216722454],[0.5797699343089484,1.4543659458934952]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.22144783133429746,-1.120965563444072,0.71338606911949],"aabb_xy":[[0.19894869560807046,-1.143465564222335],[0.2439469670605244,-1.098465562665809]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[0.4943013144576853,0.47008116061674077,0.71338606911949],"aabb_xy":[[0.4143013158703659,0.3907655586785799],[0.5743013130450048,0.5493967625549017]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[0.050205359264393956,-1.425473006925671,0.71338606911949],"aabb_xy":[[0.042502168590316906,-1.4331823776244088],[0.05790854993847099,-1.4177636362269326]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_23","position":[-0.36013607026994243,-2.1754157937348695,0.71338606911949],"aabb_xy":[[-0.4101093642732029,-2.225415794289417],[-0.310162776266682,-2.125415793180322]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_24","position":[0.358835577011241,-2.1841587500998556,0.71338606911949],"aabb_xy":[[0.32133557651388284,-2.188127433647974],[0.3963355775085993,-2.180190066551737]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[-0.4301927760418865,0.1700177550325237,0.71338606911949],"aabb_xy":[[-0.4383064307152636,0.16191193857849465],[-0.4220791213685094,0.1781235714865528]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[-0.3945011757763465,-0.10277554558994462,0.71338606911949],"aabb_xy":[[-0.4445004509447827,-0.1527755468658918],[-0.34450190060791036,-0.05277554431399745]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_27","position":[0.44993546642274995,-0.07454519903115342,0.71338606911949],"aabb_xy":[[0.40891752303637907,-0.12454519966211075],[0.49095340980912083,-0.02454519840019609]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_28","position":[0.39753982247931363,-1.1001897862095578,0.71338606911949],"aabb_xy":[[0.386634046391751,-1.180189782608387],[0.4084455985668764,-1.0201897898107286]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[-0.32454115784020166,-0.8910279445721847,0.71338606911949],"aabb_xy":[[-0.33325512689013603,-0.9135279452313726],[-0.31582718879026705,-0.8685279439129961]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_30","position":[0.408244778145713,-0.8606261830320345,0.71338606911949],"aabb_xy":[[0.3869667700022408,-0.9256261853581075],[0.4295227862891853,-0.7956261807059614]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[-0.619508860584316,0.1718964753948371,0.71338606911949],"aabb_xy":[[-0.64200528201818,0.14939647558808966],[-0.5970124391504518,0.19439647520158454]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67205225871683,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1819.png","name":"1819"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1819.png","name":"1819"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6704.png","name":"6704"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8983.png","name":"8983"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3203.png","name":"3203"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6152.png","name":"6152"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":554.283077335817,"rotation_z_degrees":102.31122511889876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010257996364498617,0.014276403927053493,-0.014745465400308229]},{"name":"camera_2","offset_m":[-0.000182820020114733,0.004091635320799467,-0.01409762942877542]},{"name":"camera_3","offset_m":[-0.008731197509613478,-0.006281012031529119,-0.008806242511390719]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001752123097552787,0.0012420412642389373,-0.0013246940992111828],"end_effector_yaw_offset_degrees":-0.1434297656011818},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00010722708558093784,-0.0005102528113727219,-0.0016942135805617644],"end_effector_yaw_offset_degrees":-0.5546141784762644},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011766482739883032,0.0012416667305206624,-0.0011940484523385985],"end_effector_yaw_offset_degrees":0.6442185540955774}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004710587874635862,0.002638163474922556],"position_m":[0.21651058787463584,0.026438163474922557,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011353271369533065,0.002496279371964033],"position_m":[0.2757353271369533,-0.3051037206280359,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003058071118336658,0.0018548565603513792],"position_m":[0.16665807111833666,0.2274548565603514,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009809802403877013,0.004345530439961995],"position_m":[0.35271901975961234,0.17254553043996199,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8ee25097b428fe38a368cfd6bdb28876ab7a7f47da9af7bc27fd11be503b73ea","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1819/tex_ceiling_textures_6152/tex_floor_textures_3203/tex_table_textures_6704/tex_wall_textures_8983","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1630215482323372433,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1630215482323372433,"visual_seed":1630215482323372433,"scene_id":"lab_003","finished_at":"2026-09-04T14:08:02"} +{"episode_id":"ep_000010","started_at":"2026-09-04T14:08:07","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.6046497554218617,0.17678501561251592,0.71338606911949],"aabb_xy":[[-0.6546497567057016,0.12680616122189378],[-0.5546497541380216,0.226763870003138]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.37184223083004486,0.4775790670755442,0.71338606911949],"aabb_xy":[[0.32684222936381596,0.4325792102140636],[0.4168422322962737,0.5225789239370249]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[0.1993837814660454,1.3780773003364999,0.71338606911949],"aabb_xy":[[0.1193837803929251,1.3682992539991152],[0.27938378253916574,1.387855346673884]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.16892020239238614,-1.506013234906567,0.71338606911949],"aabb_xy":[[0.14642106666615917,-1.5285132356848297],[0.1914193381186131,-1.4835132341283037]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.0010915972514851102,1.541480541793406,0.71338606911949],"aabb_xy":[[-0.061091597502886286,1.4871992167569412],[0.058908402999916065,1.5957618668298705]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.017095505499488906,1.7386394182505094,0.71338606911949],"aabb_xy":[[-0.07290449683453015,1.6611570636653967],[0.10709550783350796,1.816121772835622]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[-0.45091500936837203,0.2076051866226276,0.71338606911949],"aabb_xy":[[-0.45962897841830647,0.18510518596343936],[-0.4422010403184375,0.2301051872818158]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.03280029852096267,-1.51206465728709,0.71338606911949],"aabb_xy":[[-0.09780030115875615,-1.563544255986537],[0.03219970411683082,-1.460585058587643]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.5640566975878047,1.1568672633717387,0.71338606911949],"aabb_xy":[[-0.5990566975643006,1.1474026473241223],[-0.5290566976113089,1.1663318794193556]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[0.0650775619497107,-1.0478190643365186,0.71338606911949],"aabb_xy":[[0.03459331182268055,-1.0978190641180143],[0.09556181207674086,-0.9978190645550225]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[-0.1143247345820162,0.5250476343499786,0.71338606911949],"aabb_xy":[[-0.13682473410572354,0.5025516868993577],[-0.09182473505830877,0.5475435818005993]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.2661822035285326,1.1959291922797295,0.71338606911949],"aabb_xy":[[0.2249333924986179,1.1409291927675118],[0.30743101455844735,1.2509291917919467]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[-0.23292472067042114,1.6788192139433424,0.71338606911949],"aabb_xy":[[-0.26977526860740875,1.6413192131203087],[-0.19607417273343353,1.7163192147663762]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[-0.24734949142072332,0.12070501551154766,0.71338606911949],"aabb_xy":[[-0.2513099751904577,0.11303715092602705],[-0.24338900765098892,0.12837288009706826]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[-0.29087397762611805,-1.6525376427226397,0.71338606911949],"aabb_xy":[[-0.3283739781234763,-1.6565063262707584],[-0.2533739771287598,-1.6485689591745214]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.2814927197842134,-1.3748594819183002,0.71338606911949],"aabb_xy":[[0.271339704230064,-1.4109290234910403],[0.29164573533836274,-1.3387899403455596]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[0.5079045530106197,0.49709832223644623,0.71338606911949],"aabb_xy":[[0.46291196629216913,0.4520983229619974],[0.55289713972907,0.542098321510895]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.29446461310148814,0.06460967987483279,0.71338606911949],"aabb_xy":[[-0.3289270911145759,0.05794600269190997],[-0.26000213508840037,0.07127335705775562]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.14044093569919158,-1.9943615039049463,0.71338606911949],"aabb_xy":[[-0.15735166813553336,-2.007833709497561],[-0.12353020326284982,-1.9808892983123316]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[-0.27855676835411697,-1.2851480858870197,0.71338606911949],"aabb_xy":[[-0.2964258761085725,-1.298980993864231],[-0.26068766059966153,-1.2713151779098089]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.25666925828790815,0.19461470696043204,0.71338606911949],"aabb_xy":[[-0.29166925659860354,0.1868996920368864],[-0.22166925997721265,0.2023297218839777]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[-0.39185949373990475,1.1186432901716912,0.71338606911949],"aabb_xy":[[-0.47185949070294386,1.0415676485279177],[-0.31185949677686553,1.1957189318154646]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[-0.3027107823732853,-0.514093422172508,0.71338606911949],"aabb_xy":[[-0.34489519653411604,-0.5780934224497193],[-0.26052636821245456,-0.4500934218952969]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[-0.5625708178894621,1.3646512191377553,0.71338606911949],"aabb_xy":[[-0.5909005278380023,1.3601904769440385],[-0.5342411079409218,1.3691119613314726]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[-0.35867278693367705,-1.7395838284575913,0.71338606911949],"aabb_xy":[[-0.3679664051708277,-1.7770838269457252],[-0.3493791686965265,-1.7020838299694574]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[0.5687477787911952,1.1366699231573767,0.71338606911949],"aabb_xy":[[0.488753955212637,1.0566699205645353],[0.6487416023697534,1.2166699257502185]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[-0.05983319676765486,-2.1071086993634864,0.71338606911949],"aabb_xy":[[-0.12483319787359815,-2.1320740724316147],[0.005166804338288415,-2.082143326295358]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_27","position":[0.48156406795749307,1.7349860201560587,0.71338606911949],"aabb_xy":[[0.47786080662835406,1.731284001847341],[0.48526732928663185,1.7386880384647765]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[0.021166058294803225,-1.2222962343020591,0.71338606911949],"aabb_xy":[[-0.028833943366691536,-1.2722946765577618],[0.07116605995629798,-1.1722977920463564]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_29","position":[-0.6398171051914144,1.4831822268006412,0.71338606911949],"aabb_xy":[[-0.6948171043680038,1.4281925520256833],[-0.5848171060148248,1.5381719015755986]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.671427474074213,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9021.png","name":"9021"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9021.png","name":"9021"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9366.png","name":"9366"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1579.png","name":"1579"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7084.png","name":"7084"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6116.png","name":"6116"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":811.7501451101882,"rotation_z_degrees":345.2852402711689,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0008277039333351582,0.01906364592783767,0.017699528001788183]},{"name":"camera_2","offset_m":[-0.00952506011462602,-0.009861204858748671,-0.001297053036521504]},{"name":"camera_3","offset_m":[-0.011769954414453308,-0.010100109390258308,-0.0073691946012994294]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000989599517585071,0.001469041635015311,0.00045623272205791866],"end_effector_yaw_offset_degrees":0.5943294271660566},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019688791708631155,-0.0015895462318038561,-0.0012285020311466359],"end_effector_yaw_offset_degrees":-0.09740538602449922},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011378433043626802,-0.0004719671189330921,0.0009020294527035972],"end_effector_yaw_offset_degrees":0.4598416298472672}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004344942375511032,-0.002928221333029192],"position_m":[0.20745505762448896,0.02087177866697081,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003907746501843083,0.002411509227451188],"position_m":[0.27499077465018434,-0.3051884907725488,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029358633178699087,-0.0008270353546474965],"position_m":[0.1665358633178699,0.22477296464535249,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010177639260452913,-0.001985219341522332],"position_m":[0.3526822360739547,0.16621478065847767,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20a00e4332440750d51d4eeca41b3f7d98a6244e25f6959c4fda2e1a472886d5","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9021/tex_ceiling_textures_6116/tex_floor_textures_7084/tex_table_textures_9366/tex_wall_textures_1579","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7023824696227147930,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7023824696227147930,"visual_seed":7023824696227147930,"scene_id":"lab_003","finished_at":"2026-09-04T14:10:51"} +{"episode_id":"ep_000011","started_at":"2026-09-04T14:10:54","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.5355582598749398,-0.9029247959036655,0.71338606911949],"aabb_xy":[[-0.55444264364345,-0.9218107206840184],[-0.5166738761064296,-0.8840388711233128]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[-0.12437302409956141,0.5391482046169598,0.71338606911949],"aabb_xy":[[-0.1893730267373549,0.4876686059175128],[-0.05937302146176793,0.5906278033164067]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[-0.3641409224383675,-1.6564098865374821,0.71338606911949],"aabb_xy":[[-0.3759091092330251,-1.7414098864427041],[-0.35237273564371,-1.571409886632261]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[-0.312099850624108,-1.4826376085446995,0.71338606911949],"aabb_xy":[[-0.34587540981480097,-1.4966761037578644],[-0.278324291433415,-1.4685991133315346]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[-0.10994596951652258,-1.6753616110258291,0.71338606911949],"aabb_xy":[[-0.17994597290808453,-1.71067738472926],[-0.03994596612496059,-1.6400458373223983]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.09998434239215526,0.839605659793853,0.71338606911949],"aabb_xy":[[-0.1549843420139011,0.7846219670063804],[-0.04498434277040941,0.8945893525813259]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.5281318920144571,1.70229375774808,0.71338606911949],"aabb_xy":[[0.44813188875044396,1.6887337254391666],[0.6081318952784702,1.7158537900569932]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.44633178108438365,-1.0588032267449738,0.71338606911949],"aabb_xy":[[0.3663317778265407,-1.138799734536958],[0.5263317843422266,-0.9788067189529901]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[0.31435333807485355,-0.8006277699557174,0.71338606911949],"aabb_xy":[[0.2493533371177263,-0.8525759818894229],[0.3793533390319807,-0.7486795580220117]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[0.302103385968049,-2.332524282075591,0.71338606911949],"aabb_xy":[[0.29280976773089834,-2.370024280563725],[0.3113970042051995,-2.2950242835874572]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[0.02209644200825911,-1.9211534853051773,0.71338606911949],"aabb_xy":[[-0.04290355587338869,-1.9722771490117184],[0.08709643988990691,-1.8700298215986366]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[0.29290632587784726,-1.7099200440955935,0.71338606911949],"aabb_xy":[[0.22290632374641767,-1.732682009721289],[0.36290632800927675,-1.6871580784698976]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.19568780973219918,-0.9734327193356951,0.71338606911949],"aabb_xy":[[-0.2596878111401898,-1.0252216708596196],[-0.1316878083242085,-0.9216437678117704]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.0987515821104753,1.6592098194499116,0.71338606911949],"aabb_xy":[[0.0895917031665987,1.6526786014063748],[0.1079114610543519,1.665741037493449]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[-0.4896519253487993,-2.2503251360207397,0.71338606911949],"aabb_xy":[[-0.5396348755362785,-2.3003251356632997],[-0.4396689751613199,-2.200325136378179]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.4321833629245643,-1.1624846062177638,0.71338606911949],"aabb_xy":[[-0.4560195805651694,-1.2524846070262505],[-0.40834714528395927,-1.0724846054092776]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.4448198875571614,1.4327864264078358,0.71338606911949],"aabb_xy":[[-0.47530413768419155,1.3827864266263399],[-0.41433563743013124,1.4827864261893318]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.013893849011446191,1.1425460789032669,0.71338606911949],"aabb_xy":[[-0.03889384894396408,1.1356634106823436],[0.0111061509210717,1.1494287471241902]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.3874531429955259,-1.8581010589813234,0.71338606911949],"aabb_xy":[[0.3683408356375471,-1.8772358378585656],[0.40656545035350483,-1.8389662801040816]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[-0.46150837208161327,0.4522735818639534,0.71338606911949],"aabb_xy":[[-0.5515083744156324,0.37479122727884073],[-0.3715083697475942,0.529755936449066]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_20","position":[0.38680156896870654,-1.2873076367779512,0.71338606911949],"aabb_xy":[[0.3068015715651131,-1.3673002079761338],[0.46680156637229997,-1.2073150655797682]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[0.3351713815559749,0.8148037466118065,0.71338606911949],"aabb_xy":[[0.30270968067404735,0.7846709144969038],[0.36763308243790227,0.844936578726709]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[-0.08151377376093916,1.7085418071296545,0.71338606911949],"aabb_xy":[[-0.16151377519106636,1.6290246521170448],[-0.0015137723308119438,1.7880589621422638]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[0.5058047216451862,-1.833716268709804,0.71338606911949],"aabb_xy":[[0.45582730477993255,-1.8837162701990526],[0.5557821385104397,-1.7837162672205555]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700128677022318,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6875.png","name":"6875"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4013.png","name":"4013"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7811.png","name":"7811"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4275.png","name":"4275"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":699.9277690000774,"rotation_z_degrees":117.58257272125326,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014752722939988906,-0.000835370961415588,-0.01572640526866349]},{"name":"camera_2","offset_m":[-0.01909030356436084,0.002641158346123648,0.000446763672263914]},{"name":"camera_3","offset_m":[0.01692837656666293,0.011196505561002733,0.011075941815301537]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008411624986963977,0.0007248298963346694,-0.000902755414940688],"end_effector_yaw_offset_degrees":-0.11323435171122065},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014398931048229448,-0.0015704242382910284,0.0005062463586830808],"end_effector_yaw_offset_degrees":-0.7905157265898564},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014448507053367093,-0.0010844982780913023,-2.2435021823629612e-05],"end_effector_yaw_offset_degrees":0.8281226137809639}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003294795744511009,0.004884916055918139],"position_m":[0.208505204255489,0.02868491605591814,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004753757076766766,-0.004440477901410866],"position_m":[0.2698462429232332,-0.3120404779014109,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00023745657957465523,0.0027479568146171474],"position_m":[0.16336254342042533,0.22834795681461714,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016662173470830587,-0.0007564269211765059],"position_m":[0.35536621734708307,0.1674435730788235,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d9d113e2176a0af5afd8cf1b9b02fb88f97258cc1606283bfdb8cf1fdc069646","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3393/tex_ceiling_textures_4275/tex_floor_textures_7811/tex_table_textures_6875/tex_wall_textures_4013","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4512865934533301275,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4512865934533301275,"visual_seed":4512865934533301275,"scene_id":"lab_003","finished_at":"2026-09-04T14:13:39"} +{"episode_id":"ep_000012","started_at":"2026-09-04T14:13:42","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[0.20542158615074646,1.4200223387768056,0.71338606911949],"aabb_xy":[[0.15761541853697777,1.3550223360697464],[0.25322775376451506,1.4850223414838644]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.5506965424980479,1.4110514730881736,0.71338606911949],"aabb_xy":[[0.5382291843883124,1.3985861484548503],[0.5631639006077837,1.4235167977214973]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[0.11718358073786383,0.7608331136753153,0.71338606911949],"aabb_xy":[[0.06718874780992223,0.7108331147800717],[0.16717841366580544,0.8108331125705588]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[-0.6525615511623882,1.3779511556535495,0.71338606911949],"aabb_xy":[[-0.693579494548759,1.3279511550225922],[-0.6115436077760172,1.4279511562845069]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.29368332289166765,-1.021913525831274,0.71338606911949],"aabb_xy":[[-0.3274588820823606,-1.035952021044439],[-0.2599077637009747,-1.0078750306181088]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[-0.20097448951330005,1.0048123694715652,0.71338606911949],"aabb_xy":[[-0.28097448647633916,0.9277367278277917],[-0.12097449255026085,1.0818880111153386]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[-0.23811614964425376,1.7903737744096708,0.71338606911949],"aabb_xy":[[-0.2756161504362492,1.7840059334514804],[-0.20061614885225829,1.7967416153678608]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[0.39361038940131965,-1.0373386512086744,0.71338606911949],"aabb_xy":[[0.3136103879711924,-1.1168558062212839],[0.4736103908314468,-0.9578214961960649]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[-0.5794175344476323,-0.9088806084173953,0.71338606911949],"aabb_xy":[[-0.6394175350436485,-0.9636930809626187],[-0.5194175338516162,-0.8540681358721718]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.3022331455315944,0.21986396290785848,0.71338606911949],"aabb_xy":[[-0.3130736237581093,0.2026776816172097],[-0.2913926673050795,0.23705024419850731]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[-0.6035651761772235,0.8195381415618557,0.71338606911949],"aabb_xy":[[-0.6167961217119047,0.8063107225398563],[-0.5903342306425421,0.8327655605838551]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[-0.6653123449339498,-0.728342565248397,0.71338606911949],"aabb_xy":[[-0.6762181210215125,-0.8083425616472262],[-0.654406568846387,-0.6483425688495679]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[0.5932381883019147,0.2718371199563534,0.71338606911949],"aabb_xy":[[0.5557381883581483,0.2635440299215168],[0.6307381882456811,0.28013020999119]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[0.3198728025786026,0.9196806419337946,0.71338606911949],"aabb_xy":[[0.31262903653235735,0.8396806437301922],[0.327116568624848,0.999680640137397]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[-0.4867560097062561,-2.3834168551562755,0.71338606911949],"aabb_xy":[[-0.4993587088433326,-2.396012251381141],[-0.4741533105691797,-2.37082145893141]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.3172421634240199,-2.4073622378237935,0.71338606911949],"aabb_xy":[[0.25324216316354903,-2.4523710371767216],[0.38124216368449065,-2.3623534384708655]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[-0.2510747534147609,-1.609639256137207,0.71338606911949],"aabb_xy":[[-0.31507474981033395,-1.6736025445559406],[-0.1870747570191878,-1.5456759677184735]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[0.10523212538713755,-1.2644430620015976,0.71338606911949],"aabb_xy":[[0.025232122129294612,-1.3444395697935814],[0.1852321286449805,-1.1844465542096134]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.20501736140574367,-1.8076654917393207,0.71338606911949],"aabb_xy":[[0.18251736188203624,-1.8301614391899415],[0.22751736092945105,-1.7851695442887]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.3614048851517907,-2.383782436088381,0.71338606911949],"aabb_xy":[[-0.39137244206161637,-2.4137824363862665],[-0.33143732824196503,-2.3537824357904946]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[0.01929539060828378,-1.9581596666861667,0.71338606911949],"aabb_xy":[[-0.026789700646447694,-2.022159663938722],[0.06538048186301525,-1.8941596694336116]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[-0.48623205913194767,-0.0033272628078555577,0.71338606911949],"aabb_xy":[[-0.5235633356571903,-0.03798031760270786],[-0.44890078260670513,0.03132579198699675]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.03990666933560982,1.5232363271022025,0.71338606911949],"aabb_xy":[[-0.08990667028614263,1.491687180098681],[0.010093331614922985,1.5547854741057239]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.2612617696233809,-0.8278459501949569,0.71338606911949],"aabb_xy":[[0.23874807779992363,-0.8978459507959643],[0.283775461446838,-0.7578459495939492]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[-0.15926566416750698,0.6838676918777158,0.71338606911949],"aabb_xy":[[-0.17011727041638258,0.6730084011500647],[-0.14841405791863138,0.6947269826053667]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[-0.38234768371712446,0.7005045255297939,0.71338606911949],"aabb_xy":[[-0.43733993435263546,0.6455045237864812],[-0.3273554330816135,0.7555045272731068]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6698846552955704,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7046.png","name":"7046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7046.png","name":"7046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9773.png","name":"9773"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/316.png","name":"316"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7257.png","name":"7257"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/223.png","name":"223"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":517.1832938356034,"rotation_z_degrees":218.21282182605142,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005716579896069144,-0.00739987976955748,0.01448453279874493]},{"name":"camera_2","offset_m":[-0.013536968665969953,-0.019151257797280555,0.013947831259951814]},{"name":"camera_3","offset_m":[-0.015272985061507382,0.0043732467959118546,0.008770429429629686]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010611733004776734,0.0014270367476946952,0.0015529949274862352],"end_effector_yaw_offset_degrees":-0.3683121202344295},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.640670499221237e-05,-0.0009786877135698484,-0.0018868256427090713],"end_effector_yaw_offset_degrees":0.6345924053738514},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004412673601397717,0.00019584952917813155,-0.0016809673924477852],"end_effector_yaw_offset_degrees":0.7206055965900737}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00019572416998221796,0.00295252516274666],"position_m":[0.21199572416998222,0.026752525162746663,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004826907480081322,-0.004304165501028692],"position_m":[0.2697730925199187,-0.3119041655010287,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035152232799456696,0.0026261258058003266],"position_m":[0.16008477672005433,0.22822612580580032,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028746589449929983,0.0033969613823128806],"position_m":[0.356574658944993,0.17159696138231287,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6dcabbdf72bf6977b1411237e04c978c57f2a5f5e31155be2e24a883bd4fe559","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7046/tex_ceiling_textures_223/tex_floor_textures_7257/tex_table_textures_9773/tex_wall_textures_316","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4907655351542809439,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4907655351542809439,"visual_seed":4907655351542809439,"scene_id":"lab_003","finished_at":"2026-09-04T14:16:32"} +{"episode_id":"ep_000013","started_at":"2026-09-04T14:16:36","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.6076897660839613,0.8243154842336748,0.71338606911949],"aabb_xy":[[-0.6192587468308979,0.7993154841167431],[-0.5961207853370247,0.8493154843506066]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.3339057808296974,-0.1455710607365157,0.71338606911949],"aabb_xy":[[-0.3689057800225156,-0.15653810673417828],[-0.2989057816368791,-0.13460401473885303]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.28830478307973495,-2.529534152234189,0.71338606911949],"aabb_xy":[[0.28418883296766223,-2.5336497072670343],[0.29242073319180756,-2.525418597201343]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.17186433726798767,-1.0934024700834661,0.71338606911949],"aabb_xy":[[-0.184491124555184,-1.102948543785039],[-0.1592375499807913,-1.0838563963818932]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.4101123910772029,1.3350508174357643,0.71338606911949],"aabb_xy":[[0.37261239250158196,1.322314521772206],[0.4476123896528236,1.347787113099322]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[0.5611261487762074,-2.531165263910248,0.71338606911949],"aabb_xy":[[0.554814049239869,-2.536932203163467],[0.5674382483125457,-2.5253983246570297]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.4255026223364058,-1.895351298597625,0.71338606911949],"aabb_xy":[[0.4205466021515247,-1.917851298799747],[0.430458642521287,-1.8728512983955037]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[-0.32406922280902967,0.07714315904707236,0.71338606911949],"aabb_xy":[[-0.3519142595896368,0.04635866030876068],[-0.29622418602842254,0.10792765778538405]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.43416515753744206,-2.251257470967226,0.71338606911949],"aabb_xy":[[-0.4560738396767931,-2.2731581377873167],[-0.412256475398091,-2.229356804147135]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.3190449990866266,-1.0762828673270157,0.71338606911949],"aabb_xy":[[-0.40904499582223675,-1.1294663306443102],[-0.22904500235101632,-1.0230994040097212]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[-0.5907640559591276,0.31487964755528486,0.71338606911949],"aabb_xy":[[-0.6021257906124137,0.3035111811489968],[-0.5794023213058414,0.32624811396157294]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[0.6574658268678679,-1.7302982185821485,0.71338606911949],"aabb_xy":[[0.6240256516718482,-1.7637418444130781],[0.6909060020638874,-1.696854592751218]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.40738596210587386,-2.3992813009900766,0.71338606911949],"aabb_xy":[[-0.4298859626179145,-2.4217731593554745],[-0.3848859615938333,-2.376789442624678]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[0.08969074046228986,1.3592094608528105,0.71338606911949],"aabb_xy":[[0.03969074181636867,1.309289917193348],[0.13969073910821106,1.4091290045122729]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.4257728501686002,1.7712799609687502,0.71338606911949],"aabb_xy":[[-0.44364195792305566,1.7574470529915391],[-0.4079037424141447,1.7851128689459612]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.5372850242580536,0.7667248221735008,0.71338606911949],"aabb_xy":[[0.49978502396587865,0.7626833467728971],[0.5747850245502283,0.7707662975741043]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[-0.47381844052657074,-0.5802916802159936,0.71338606911949],"aabb_xy":[[-0.4869696864978602,-0.6052916799726803],[-0.4606671945552815,-0.5552916804593072]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.2897757146690384,1.6448922022926884,0.71338606911949],"aabb_xy":[[0.1997757152506675,1.6115167054484987],[0.3797757140874093,1.6782676991368781]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.3129821931083851,-0.3676504729097183,0.71338606911949],"aabb_xy":[[-0.37298219475130695,-0.4196506222016625],[-0.25298219146546325,-0.3156503236177741]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[-0.6317120687108029,-0.4402497069940452,0.71338606911949],"aabb_xy":[[-0.6382137052188075,-0.450017529020355],[-0.6252104322027983,-0.4304818849677355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.670344941695193,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1891.png","name":"1891"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1891.png","name":"1891"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3311.png","name":"3311"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7864.png","name":"7864"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5591.png","name":"5591"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5452.png","name":"5452"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":657.1391913088439,"rotation_z_degrees":236.49927679141075,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015691290478217382,0.01535348724363635,-0.0008529548843071895]},{"name":"camera_2","offset_m":[0.019741248640276567,-0.013958094914998047,0.008962714198056904]},{"name":"camera_3","offset_m":[-0.005362302438974651,-0.007236514479907332,-0.01243636640508811]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011548023987980943,0.0018335538693844532,-0.0011450953205998497],"end_effector_yaw_offset_degrees":0.773571547290681},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016715208463960805,-0.001870681248417432,-0.0016117735075889784],"end_effector_yaw_offset_degrees":0.7766211817399615},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006106438768814697,0.0005515730794236383,-0.0017645519783959932],"end_effector_yaw_offset_degrees":0.7854239514152326}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0045417623089805265,-0.0009282058936719252],"position_m":[0.20725823769101948,0.022871794106328076,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000510933584502775,0.003026130455447934],"position_m":[0.27408906641549724,-0.30457386954455207,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[6.145010518962112e-05,-0.0015133229774124844],"position_m":[0.16366145010518962,0.2240866770225875,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019864645995622842,-0.0016998539169640137],"position_m":[0.3517135354004377,0.16650014608303598,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"68fb6ed14ab069f405b95ebe00fd64fbfaddbb94dc9fa527b0e7b84af0911775","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0013.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1891/tex_ceiling_textures_5452/tex_floor_textures_5591/tex_table_textures_3311/tex_wall_textures_7864","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4212818257283835806,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4212818257283835806,"visual_seed":4212818257283835806,"scene_id":"lab_003","finished_at":"2026-09-04T14:19:18"} +{"episode_id":"ep_000014","started_at":"2026-09-04T14:19:21","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.490375205815065,1.290811700025829,0.71338606911949],"aabb_xy":[[0.42537520765914594,1.2645154554759166],[0.555375203970984,1.317107944575741]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.44171565799837476,-1.4117804911277505,0.71338606911949],"aabb_xy":[[0.43708054284614134,-1.4156478262048986],[0.44635077315060806,-1.4079131560506015]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.10158909433053387,1.0166397657295367,0.71338606911949],"aabb_xy":[[0.021589096349748826,1.0090382247676846],[0.18158909231131892,1.0242413066913885]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[-0.6117001338007743,0.8078952681159683,0.71338606911949],"aabb_xy":[[-0.6369209706606138,0.7826715172630815],[-0.5864792969409345,0.833119018968855]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[0.6942396631258685,-1.7382777078347396,0.71338606911949],"aabb_xy":[[0.6905364017967296,-1.7419797261434575],[0.6979429244550074,-1.7345756895260216]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.2979148339520658,-0.6622220901029696,0.71338606911949],"aabb_xy":[[-0.3107867374530059,-0.7422220905168057],[-0.2850429304511256,-0.5822220896891334]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.5097280331871162,-1.869882099278621,0.71338606911949],"aabb_xy":[[-0.5737280323568861,-1.9166487863975836],[-0.44572803401734623,-1.8231154121596587]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.07826467930460279,-1.7515449748279264,0.71338606911949],"aabb_xy":[[-0.10043720628125362,-1.7737206419840494],[-0.05609215232795195,-1.7293693076718033]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[-0.33827616755532125,-2.3971999125055925,0.71338606911949],"aabb_xy":[[-0.34697412984603654,-2.4093248868130672],[-0.32957820526460596,-2.3850749381981178]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.5554445631635876,1.3660498047409164,0.71338606911949],"aabb_xy":[[-0.6204445642695309,1.3410844316727881],[-0.4904445620576443,1.3910151778090447]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[0.07177953741417442,1.6843886193624313,0.71338606911949],"aabb_xy":[[-0.013220461003248807,1.5995143239001464],[0.15677953583159765,1.7692629148247163]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.66857875987461,-0.10047739949877244,0.71338606911949],"aabb_xy":[[-0.6867845835358578,-0.11150280008076408],[-0.6503729362133625,-0.0894519989167808]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[-0.48379489064474185,0.08162156262867493,0.71338606911949],"aabb_xy":[[-0.5537948922470213,0.06818876942701735],[-0.4137948890424624,0.0950543558303325]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.1973718551927638,-1.4158261475840794,0.71338606911949],"aabb_xy":[[-0.28237185388483843,-1.447812010978958],[-0.11237185650068915,-1.3838402841892004]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.3898500626540392,-1.659573258960638,0.71338606911949],"aabb_xy":[[-0.427350063838832,-1.663991481656698],[-0.3523500614692464,-1.655155036264577]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.2420881552188322,-1.421340128510843,0.71338606911949],"aabb_xy":[[0.2086479800228126,-1.4547837543417725],[0.2755283304148518,-1.3878965026799124]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.1523625536869454,-2.284284858556516,0.71338606911949],"aabb_xy":[[0.12187830355991525,-2.334284858338012],[0.18284680381397556,-2.23428485877502]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[-0.6281623588034451,-1.1043445880658909,0.71338606911949],"aabb_xy":[[-0.6564920687519853,-1.1088053302596081],[-0.5998326488549048,-1.099883845872174]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[0.4886221370307984,-1.5770305310176431,0.71338606911949],"aabb_xy":[[0.41862213522205294,-1.5983842997818307],[0.5586221388395438,-1.555676762253456]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[-0.47117286753387944,1.2237858955263725,0.71338606911949],"aabb_xy":[[-0.5211721427023155,1.1737858942504253],[-0.4211735923654432,1.2737858968023197]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[0.31202156209303933,0.44855542235394275,0.71338606911949],"aabb_xy":[[0.3023899258726097,0.4389181095742338],[0.32165319831346895,0.4581927351336516]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[-0.12879415513155423,-1.5185233865840349,0.71338606911949],"aabb_xy":[[-0.1327546389012886,-1.5261912511695555],[-0.12483367136181986,-1.5108555219985143]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[-0.45313766306578096,-0.6848523240564965,0.71338606911949],"aabb_xy":[[-0.49046893959102356,-0.7195053788513489],[-0.41580638654053836,-0.6501992692616444]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.22240295961425938,0.7032054456595533,0.71338606911949],"aabb_xy":[[0.21199140093377564,0.6978597123236547],[0.23281451829474306,0.7085511789954517]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.3444928948454947,1.7471445650306552,0.71338606911949],"aabb_xy":[[-0.3564256292073228,1.7347624122227958],[-0.33256016048366666,1.7595267178385146]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.5112438870632807,-0.3517238052503897,0.71338606911949],"aabb_xy":[[0.4887301952398234,-0.42172380585139724],[0.5337575788867378,-0.2817238046493822]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_26","position":[0.1920369135036354,-2.023565887985245,0.71338606911949],"aabb_xy":[[0.1826194389337726,-2.032982065122964],[0.2014543880734981,-2.014149710847526]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[-0.2766019754818762,-2.0513108531236384,0.71338606911949],"aabb_xy":[[-0.3016019746475093,-2.058263098828995],[-0.2516019763162431,-2.044358607418282]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[-0.09166097411703578,-1.9045830456759312,0.71338606911949],"aabb_xy":[[-0.0955748473124583,-1.913332061082488],[-0.08774710092161325,-1.8958340302693744]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_29","position":[0.043067355162350496,-1.3145735448175897,0.71338606911949],"aabb_xy":[[0.035073366584647096,-1.32257362491268],[0.05106134374005388,-1.3065734647224994]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_30","position":[-0.1447301944639694,1.1867762415182552,0.71338606911949],"aabb_xy":[[-0.19454697392880413,1.1367762430339519],[-0.09491341499913461,1.2367762400025586]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_31","position":[0.4443808262160567,-0.7956287725537492,0.71338606911949],"aabb_xy":[[0.4078850055887779,-0.8321127149805067],[0.48087664684333536,-0.7591448301269915]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6708657963643841,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3536.png","name":"3536"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3536.png","name":"3536"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8641.png","name":"8641"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5040.png","name":"5040"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9889.png","name":"9889"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7524.png","name":"7524"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":614.4918796091433,"rotation_z_degrees":112.86171699981844,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0024751130791545346,-0.0020455005674083933,-0.018190472476571816]},{"name":"camera_2","offset_m":[0.005495109962180448,0.017712752310011685,0.0020380909975391513]},{"name":"camera_3","offset_m":[0.010759349912454245,0.006049747997899736,0.003544685801236628]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00013486627125612908,0.001040313123889072,-0.0013746637062404471],"end_effector_yaw_offset_degrees":-0.8922691490771661},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001265719351053172,-0.001112022882599638,3.574562739819438e-05],"end_effector_yaw_offset_degrees":0.6958915737399329},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001394743969096147,-8.298201060819737e-05,0.0008742967302052553],"end_effector_yaw_offset_degrees":0.10377595552421437}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003895870361774208,-0.004438249362589082],"position_m":[0.2156958703617742,0.01936175063741092,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005085225475580449,0.0018862113921031941],"position_m":[0.27409147745244195,-0.3057137886078968,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002181052768639692,0.0009696726478671336],"position_m":[0.1657810527686397,0.22656967264786712,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014278363031207386,0.002351056860447476],"position_m":[0.3522721636968793,0.17055105686044747,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9f44a0124f0891798e85a9089ecb82fd5fc443656d03bfb2a8aeaba67e7df6ab","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3536/tex_ceiling_textures_7524/tex_floor_textures_9889/tex_table_textures_8641/tex_wall_textures_5040","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4069204743156457291,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4069204743156457291,"visual_seed":4069204743156457291,"scene_id":"lab_003","finished_at":"2026-09-04T14:22:08"} +{"episode_id":"ep_000015","started_at":"2026-09-04T14:22:12","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[0.12567758022030406,1.4530082349188533,0.71338606911949],"aabb_xy":[[0.08349316605947335,1.3890082346416424],[0.16786199438113483,1.5170082351960648]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.19321337498006652,0.9999456260989885,0.71338606911949],"aabb_xy":[[0.17193536683659424,0.9349456237729153],[0.21449138312353874,1.0649456284250616]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.37434136509098115,-1.3123380232567172,0.71338606911949],"aabb_xy":[[-0.39934136464271963,-1.322480507121852],[-0.34934136553924267,-1.3021955393915825]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[0.6413295714911051,0.7641775190380948,0.71338606911949],"aabb_xy":[[0.6299678368378189,0.7528090526318065],[0.6526913061443912,0.7755459854443827]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.1102834771004294,-0.653685107299272,0.71338606911949],"aabb_xy":[[-0.11523949728531062,-0.6761851075013936],[-0.10532745691554822,-0.6311851070971504]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.4835379318326807,0.09507810278235729,0.71338606911949],"aabb_xy":[[0.45724910751224,0.06880666912770604],[0.5098267561531213,0.1213495364370085]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.4389798280928603,-2.0905025369834367,0.71338606911949],"aabb_xy":[[0.3739798302112125,-2.1416262006899776],[0.5039798259745081,-2.039378873276896]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[-0.1992605224163288,0.6998229090890438,0.71338606911949],"aabb_xy":[[-0.20696371309040584,0.6921135383903056],[-0.19155733174225176,0.7075322797877817]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.6400354966755677,0.3738621452861226,0.71338606911949],"aabb_xy":[[0.6329940457248202,0.36683539354832806],[0.6470769476263154,0.38088889702391715]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.11364516683896775,1.705857182817756,0.71338606911949],"aabb_xy":[[-0.1230626414088305,1.696441005680037],[-0.104227692269105,1.715273359955475]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[0.08302317361975453,-1.470926289638215,0.71338606911949],"aabb_xy":[[0.013023172017475049,-1.4843590828398727],[0.153023175222034,-1.4574934964365576]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.5105235031018447,1.1468863925620276,0.71338606911949],"aabb_xy":[[0.44052350046525823,1.1267815275661621],[0.5805235057384309,1.1669912575578931]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.31095560733375205,-1.7574794677820655,0.71338606911949],"aabb_xy":[[0.24695561093817897,-1.821442756200799],[0.3749556037293251,-1.693516179363332]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[-0.12882155541812046,-0.9826327809133486,0.71338606911949],"aabb_xy":[[-0.16341263827216568,-1.0476327811983794],[-0.09423047256407525,-0.9176327806283174]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[-0.32096550007542207,1.4464233454632773,0.71338606911949],"aabb_xy":[[-0.35746132070270076,1.4099394030365193],[-0.2844696794481433,1.4829072878900345]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.6059190434174038,0.5358253091826972,0.71338606911949],"aabb_xy":[[0.5780740066367965,0.5050408104443855],[0.6337640801980108,0.5666098079210089]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[-0.5931171610167951,1.6070395755864992,0.71338606911949],"aabb_xy":[[-0.6057439483039915,1.5974935018849266],[-0.5804903737295988,1.6165856492880724]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[-0.47991676964172025,-2.1951889333047148,0.71338606911949],"aabb_xy":[[-0.5174167708265129,-2.199607156000775],[-0.44241676845692735,-2.190770710608654]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.6534808281851597,-2.210034182310272,0.71338606911949],"aabb_xy":[[-0.6588133428397726,-2.215358510555508],[-0.6481483135305467,-2.2047098540650363]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[-0.0509211294571168,1.2798290235832552,0.71338606911949],"aabb_xy":[[-0.12092113284867878,1.244513249879824],[0.019078873934445167,1.3151447972866857]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[-0.27654540810701905,-0.47894167360048767,0.71338606911949],"aabb_xy":[[-0.3051947404674352,-0.5075872328775635],[-0.24789607574660277,-0.4502961143234118]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.5726926812089531,-0.5786955302461272,0.71338606911949],"aabb_xy":[[-0.627692680830699,-0.6336792230336],[-0.5176926815872073,-0.5237118374586546]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_22","position":[-0.4307932397536161,1.715684208172155,0.71338606911949],"aabb_xy":[[-0.4399531186974927,1.7091529901286182],[-0.4216333608097395,1.7222154262156923]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[0.4286642146579378,-1.9325631377096486,0.71338606911949],"aabb_xy":[[0.3646642124375308,-1.9769362218349367],[0.49266421687834483,-1.88819005358436]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[-0.45749558452781747,-1.9771281022170935,0.71338606911949],"aabb_xy":[[-0.5074688785310779,-2.0271281027716403],[-0.40752229052455696,-1.927128101662546]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[0.5105954948136322,-2.5241470176928993,0.71338606911949],"aabb_xy":[[0.46062242928111685,-2.5741470175054326],[0.5605685603461478,-2.474147017880367]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[0.08211674046074413,0.7848322705011688,0.71338606911949],"aabb_xy":[[0.04867656526472452,0.7513886446702387],[0.11555691565676372,0.8182758963320989]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_27","position":[0.48072291197665273,-0.763305962508193,0.71338606911949],"aabb_xy":[[0.4167229133900802,-0.8103129259077018],[0.5447229105632252,-0.7162989991086843]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_28","position":[0.6401229102837056,-0.537378184952964,0.71338606911949],"aabb_xy":[[0.5751229121277865,-0.5636744295028762],[0.7051229084396247,-0.5110819404030518]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_29","position":[-0.2420225297276547,1.631978149498305,0.71338606911949],"aabb_xy":[[-0.2645225295415571,1.627503533127824],[-0.21952252991375232,1.6364527658687855]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_30","position":[0.009433300304271142,-1.218085502390354,0.71338606911949],"aabb_xy":[[-0.05456670137372621,-1.266602893869668],[0.0734333019822685,-1.1695681109110396]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_31","position":[-0.1782429243205641,1.5123163367266037,0.71338606911949],"aabb_xy":[[-0.19147386985524537,1.499088917704604],[-0.16501197878588278,1.525543755748603]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_32","position":[0.49868216794258147,-1.5039142074700789,0.71338606911949],"aabb_xy":[[0.4906881793648781,-1.5119142875651692],[0.5066761565202849,-1.4959141273749885]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_33","position":[-0.5174943347759053,0.6888705717184886,0.71338606911949],"aabb_xy":[[-0.5424943340478675,0.6725252081223262],[-0.492494335503943,0.7052159353146509]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_34","position":[0.048804345774149605,0.6732734310397643,0.71338606911949],"aabb_xy":[[0.013804344422667874,0.6529136950829435],[0.08380434712563134,0.6936331669965852]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6726787740082487,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1792.png","name":"1792"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1792.png","name":"1792"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9649.png","name":"9649"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1188.png","name":"1188"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7070.png","name":"7070"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7267.png","name":"7267"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":521.6051482879877,"rotation_z_degrees":134.06646373835642,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014550307436590023,0.01115244458773373,-0.012456123380860658]},{"name":"camera_2","offset_m":[-0.013315217869649483,-0.010238584787222092,-0.01964451965313542]},{"name":"camera_3","offset_m":[0.012888190346967119,-0.012358111925338302,0.003480664512374731]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019943224088255318,-0.0017549094620211139,0.00035530893388565276],"end_effector_yaw_offset_degrees":0.11142087794567779},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014136325241687394,0.001055174409541216,-0.0017819669619234793],"end_effector_yaw_offset_degrees":-0.2610586398376278},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001024273443472475,0.0013430478909352002,0.0007586322133271142],"end_effector_yaw_offset_degrees":0.26029939898439647}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00016365792080535319,-0.003523428285539274],"position_m":[0.21163634207919463,0.020276571714460727,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014509888234188108,0.0017362606129891133],"position_m":[0.27605098882341883,-0.3058637393870109,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018552851778557014,-0.0017405194257668001],"position_m":[0.1654552851778557,0.2238594805742332,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00318879466997972,0.002365510417769805],"position_m":[0.35688879466997975,0.1705655104177698,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9689983826f2add865b9f55d8def8a33355a5ade11b62a261f96a71a17fc1a0a","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1792/tex_ceiling_textures_7267/tex_floor_textures_7070/tex_table_textures_9649/tex_wall_textures_1188","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2848678018485719615,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2848678018485719615,"visual_seed":2848678018485719615,"scene_id":"lab_003","finished_at":"2026-09-04T14:24:57"} +{"episode_id":"ep_000016","started_at":"2026-09-04T14:25:00","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[-0.5868099436446268,-2.5064815114958945,0.71338606911949],"aabb_xy":[[-0.6518099415262747,-2.5576051752024354],[-0.5218099457629791,-2.4553578477893536]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.14588712776945056,-1.7013922560639791,0.71338606911949],"aabb_xy":[[0.1307848263084324,-1.7164937776950406],[0.1609894292304686,-1.6862907344329168]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[-0.6437945993500696,0.7430014562116183,0.71338606911949],"aabb_xy":[[-0.6493762709841984,0.7305014563938428],[-0.6382129277159407,0.7555014560293938]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[-0.19819216796696254,0.6698529473476693,0.71338606911949],"aabb_xy":[[-0.22341300482680215,0.6446291964947825],[-0.17297133110712282,0.695076698200556]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.13653422979213858,-0.2999386110538529,0.71338606911949],"aabb_xy":[[-0.22653422951531274,-0.32301196358903267],[-0.04653423006896439,-0.276865258518673]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.4275647403552283,-1.7012894467289588,0.71338606911949],"aabb_xy":[[0.3635647432431226,-1.7503218165233694],[0.491564737467334,-1.6522570769345482]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.2525719698686871,1.5095593853480263,0.71338606911949],"aabb_xy":[[-0.2631394495267861,1.4990143552350177],[-0.24200449021058806,1.5201044154610348]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.5913092407333949,-1.1903351719617243,0.71338606911949],"aabb_xy":[[0.5273092385129879,-1.2347082560870128],[0.655309242953802,-1.1459620878364363]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[0.6126361422046009,-0.8290186642617985,0.71338606911949],"aabb_xy":[[0.5839868098441846,-0.8576642235388742],[0.641285474565017,-0.8003731049847226]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[0.25740978881995014,1.7221271913920746,0.71338606911949],"aabb_xy":[[0.1774097908391651,1.7145256504302224],[0.3374097868007352,1.7297287323539263]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.7060126378398928,-0.37984341930125964,0.71338606911949],"aabb_xy":[[0.6878068141786451,-0.3908688198832513],[0.7242184615011404,-0.368818018719268]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.648111988110295,1.6592620698380478,0.71338606911949],"aabb_xy":[[0.5931119889337054,1.60427239506309],[0.7031119872868844,1.7142517446130052]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[0.09026660590488034,-1.85622459042801,0.71338606911949],"aabb_xy":[[0.0666814824409855,-1.9212245926734415],[0.1138517293687752,-1.791224588182578]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[-0.5578326368717685,0.20407089397656364,0.71338606911949],"aabb_xy":[[-0.570983882843058,0.17907089421987712],[-0.5446813909004793,0.22907089373325024]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[0.26598315889435153,1.4514309255692637,0.71338606911949],"aabb_xy":[[0.25133975334031855,1.4367722059124794],[0.2806265644483845,1.466089645226048]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.3008478882405745,-1.9094738274163376,0.71338606911949],"aabb_xy":[[-0.35084716340901073,-1.9594738286922855],[-0.2508486130721384,-1.8594738261403911]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[0.25710504061980377,1.2976485293896172,0.71338606911949],"aabb_xy":[[0.18710503722824182,1.262332755686186],[0.32710504401136575,1.3329643030930478]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.4156986491582257,0.8045189092099116,0.71338606911949],"aabb_xy":[[-0.46517907037218453,0.7405189112970598],[-0.36621822794426695,0.8685189071227635]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[0.25512900140358896,-1.0326475565450106,0.71338606911949],"aabb_xy":[[0.19512900080757278,-1.0874600290902343],[0.31512900199960514,-0.9778350839997874]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.031756166606452196,0.5603552366501181,0.71338606911949],"aabb_xy":[[-0.04110317418874743,0.5460516144324741],[-0.022409159024156966,0.5746588588677621]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[0.5730632461578009,-0.19118058426247053,0.71338606911949],"aabb_xy":[[0.5030632435212146,-0.21128544925833598],[0.6430632487943873,-0.17107571926660498]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[-0.11523911324742853,0.20987254828759783,0.71338606911949],"aabb_xy":[[-0.1527391118230493,0.1971362526240399],[-0.0777391146718077,0.22260884395115577]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[0.03547105505613246,-0.9573616960040594,0.71338606911949],"aabb_xy":[[-0.028528946351858205,-1.0091506475279841],[0.09947105646412312,-0.9055727444801347]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[-0.5167840014155721,1.5422561748289891,0.71338606911949],"aabb_xy":[[-0.5667771135247641,1.4922561741547935],[-0.46679088930638035,1.592256175503185]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6776009822981869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8406.png","name":"8406"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8406.png","name":"8406"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6232.png","name":"6232"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2187.png","name":"2187"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5671.png","name":"5671"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3968.png","name":"3968"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":535.8994874425078,"rotation_z_degrees":92.5300418782274,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010068543140240273,0.011801759919231148,0.011962549275855886]},{"name":"camera_2","offset_m":[0.008024881170493523,-0.000719829397220529,0.012806891639018481]},{"name":"camera_3","offset_m":[-0.011134362139960361,-0.006663666274449302,-0.017506134365317023]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001427863463508136,0.0016707917355589753,-0.0018962286499858744],"end_effector_yaw_offset_degrees":-0.8918926967588321},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.308107415627391e-05,-0.0016008135018716865,-0.0018493000986510558],"end_effector_yaw_offset_degrees":0.7604943837252931},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018065244542286498,-0.000426497863156846,9.13562353264388e-05],"end_effector_yaw_offset_degrees":-0.34748324806081987}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021504082434169736,0.0014726297155476745],"position_m":[0.20964959175658301,0.025272629715547675,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0039910731443183614,-0.004087078184748607],"position_m":[0.27859107314431836,-0.3116870781847486,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004298638455700391,0.004364234209971596],"position_m":[0.1593013615442996,0.22996423420997159,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00025881415409331754,0.004788910857063368],"position_m":[0.35344118584590667,0.17298891085706336,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f9e5e5372e7b5bbeef77b40c2fccc1c166ffdf57ded3fb05a4a34c8d19557cec","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0016.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8406/tex_ceiling_textures_3968/tex_floor_textures_5671/tex_table_textures_6232/tex_wall_textures_2187","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2456657253290107324,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2456657253290107324,"visual_seed":2456657253290107324,"scene_id":"lab_003","finished_at":"2026-09-04T14:27:47"} +{"episode_id":"ep_000017","started_at":"2026-09-04T14:27:50","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[0.3338155040065258,0.607885352989781,0.71338606911949],"aabb_xy":[[0.29631550371435095,0.6038438775891773],[0.3713155042987006,0.6119268283903846]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.588083779560274,-2.176574409959145,0.71338606911949],"aabb_xy":[[-0.6381812435413476,-2.2405744104689567],[-0.5379863155792004,-2.112574409449333]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[0.44515326650988096,1.2073746680294586,0.71338606911949],"aabb_xy":[[0.4332811834983799,1.1223746683358082],[0.45702534952138213,1.292374667723109]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.5245489398718419,1.6768228519789177,0.71338606911949],"aabb_xy":[[-0.5508377641922825,1.6505514183242662],[-0.4982601155514012,1.7030942856335687]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.5364172607282667,0.3996611292034835,0.71338606911949],"aabb_xy":[[-0.5436785082986741,0.3868741189399741],[-0.5291560131578592,0.41244813946699305]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.3192095714135851,-1.6669519032404538,0.71338606911949],"aabb_xy":[[-0.38320957168756337,-1.7170180034377418],[-0.2552095711396069,-1.6168858030431659]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.521579614313285,-1.288893780108137,0.71338606911949],"aabb_xy":[[-0.5574931187382747,-1.3248072883248914],[-0.48566610988829534,-1.2529802718913823]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.6378383528421556,-0.30944595846414114,0.71338606911949],"aabb_xy":[[0.5956539386813249,-0.37344595874135234],[0.6800227670029864,-0.24544595818692994]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.4120521475375316,-1.5790636761172965,0.71338606911949],"aabb_xy":[[0.40401581283624677,-1.5871017954217133],[0.42008848223881645,-1.5710255568128797]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.05883762519501201,0.6240607302205174,0.71338606911949],"aabb_xy":[[-0.08932187532204217,0.5740607304390215],[-0.028353375067981856,0.6740607300020134]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.5493439750116416,-0.7627074416059183,0.71338606911949],"aabb_xy":[[0.4993508629024497,-0.8127074422801142],[0.5993370871208334,-0.7127074409317228]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[-0.5261094929070558,0.06700605295082829,0.71338606911949],"aabb_xy":[[-0.5861094931584568,0.012724727914363618],[-0.4661094926556545,0.12128737798729293]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.1785050610862985,-1.4163770201823338,0.71338606911949],"aabb_xy":[[0.16182792509320298,-1.4330769441562643],[0.195182197079394,-1.3996770962084037]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.6610448795581954,-0.15847063965177144,0.71338606911949],"aabb_xy":[[0.6550078665575307,-0.16449734072071967],[0.6670818925588602,-0.15244393858282326]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[0.3341993202685636,-1.0026164422856978,0.71338606911949],"aabb_xy":[[0.32930002796200003,-1.0302933615882663],[0.339098612575127,-0.9749395229831288]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[0.6494538556688874,1.1760358652170213,0.71338606911949],"aabb_xy":[[0.6066871487894671,1.1120358617952188],[0.6922205625483074,1.2400358686388238]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.2784444994407634,-2.196515856409589,0.71338606911949],"aabb_xy":[[-0.3360749683280342,-2.256515855336299],[-0.22081403055349247,-2.1365158574828778]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[0.4398539551431202,-1.1152865975791324,0.71338606911949],"aabb_xy":[[0.42725125600604374,-1.127881993803998],[0.45245665428019666,-1.102691201354267]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.5847991011304439,-2.537305925110675,0.71338606911949],"aabb_xy":[[0.5297991029286989,-2.5778278917371122],[0.6397990993321886,-2.496783958484237]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[0.414544130953993,-0.8505003224447176,0.71338606911949],"aabb_xy":[[0.3967506240190766,-0.8683000680405153],[0.4323376378889095,-0.83270057684892]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[-0.12638970577055375,-1.5411107056551097,0.71338606911949],"aabb_xy":[[-0.1613897049005094,-1.5468559267307738],[-0.09138970664059809,-1.5353654845794455]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[-0.22265609813869397,0.4655544439730255,0.71338606911949],"aabb_xy":[[-0.2352828854258903,0.4560083702714526],[-0.2100293108514976,0.4751005176745984]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[-0.23593633926152546,-1.1668888452933535,0.71338606911949],"aabb_xy":[[-0.24880824276246558,-1.2468888457071894],[-0.2230644357605853,-1.086888844879517]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[-0.157961190238895,-0.7703105620124004,0.71338606911949],"aabb_xy":[[-0.2079342557714105,-0.8203105618249336],[-0.10798812470637956,-0.7203105621998677]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.5402494120973991,0.628335766589454,0.71338606911949],"aabb_xy":[[-0.6202494106847184,0.549020164651293],[-0.4602494135100796,0.7076513685276148]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.47821992882977016,1.43919916191139,0.71338606911949],"aabb_xy":[[-0.48797591833894394,1.4294366278521555],[-0.46846393932059616,1.4489616959706244]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[0.31793645539647697,-1.8343778954049137,0.71338606911949],"aabb_xy":[[0.30038976048035804,-1.871877896969165],[0.3354831503125959,-1.7968778938406624]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[-0.5059253871974736,-0.9979981655155559,0.71338606911949],"aabb_xy":[[-0.5402416643720915,-1.0479981654887336],[-0.47160911002285566,-0.9479981655423781]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_28","position":[0.48535945130526925,0.12060994373186329,0.71338606911949],"aabb_xy":[[0.47606583306811867,0.08310994524372939],[0.49465306954241983,0.1581099422199972]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_29","position":[-0.30474860869259723,1.2488306911047191,0.71338606911949],"aabb_xy":[[-0.32724503012646133,1.2263306912979717],[-0.28225218725873313,1.2713306909114666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6694891183433598,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3843.png","name":"3843"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3843.png","name":"3843"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1656.png","name":"1656"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2299.png","name":"2299"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7008.png","name":"7008"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2127.png","name":"2127"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":523.774410586469,"rotation_z_degrees":180.09683544977855,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006138111713632592,-0.005211221367161177,-0.016859232985022787]},{"name":"camera_2","offset_m":[-0.0034228162332961415,-0.001543122932326793,0.0057470233200548684]},{"name":"camera_3","offset_m":[-0.00582798568611682,0.013228847912235813,0.007502274512255016]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010487659088321594,-0.00019955389844774447,-0.0015836322299059744],"end_effector_yaw_offset_degrees":-0.8613968962140637},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000939720708265149,0.0013482176128342322,-0.000905869443425848],"end_effector_yaw_offset_degrees":0.5911649202792075},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014192803556872455,0.00010613052815599449,0.001621616435816601],"end_effector_yaw_offset_degrees":-0.13900191006683982}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019221798562742733,-0.004355579008249537],"position_m":[0.21372217985627426,0.019444420991750463,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014386756018237067,0.0030910019664019276],"position_m":[0.2731613243981763,-0.30450899803359804,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004344251213824964,0.00042346501895462046],"position_m":[0.16794425121382495,0.22602346501895462,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004966453016892448,0.002573955227707131],"position_m":[0.34873354698310755,0.1707739552277071,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dbb729f87b3409c9802903eef7094e3a9c4b97d5e2bbaab0e08e2bf7a06b816e","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3843/tex_ceiling_textures_2127/tex_floor_textures_7008/tex_table_textures_1656/tex_wall_textures_2299","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5826795703206620467,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5826795703206620467,"visual_seed":5826795703206620467,"scene_id":"lab_003","finished_at":"2026-09-04T14:30:31"} +{"episode_id":"ep_000018","started_at":"2026-09-04T14:30:36","dimensions":{"distractor":{"count":30,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[0.4067471430054399,-1.9950562516465746,0.71338606911949],"aabb_xy":[[0.3217471445880167,-2.0799305471088596],[0.49174714142286313,-1.9101819561842899]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[0.49788197388482147,-1.16989570992052,0.71338606911949],"aabb_xy":[[0.46923264152440525,-1.1985412691975958],[0.5265313062452377,-1.1412501506434443]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[-0.5576592450967656,-0.17100052885831962,0.71338606911949],"aabb_xy":[[-0.5632409167308942,-0.18350052867609512],[-0.5520775734626368,-0.15850052904054412]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[0.23099946852870412,1.7526593218330526,0.71338606911949],"aabb_xy":[[0.21345277361258516,1.7151593202688011],[0.24854616344482303,1.7901593233973037]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[0.484874934071684,1.301282556651322,0.71338606911949],"aabb_xy":[[0.47953735840567946,1.2762825557221822],[0.4902125097376886,1.3262825575804618]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[0.2989015427087338,0.773604640260515,0.71338606911949],"aabb_xy":[[0.28643418459899816,0.7611393156271916],[0.31136890081846946,0.7860699648938386]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[-0.1925831668775173,-0.1671461743059437,0.71338606911949],"aabb_xy":[[-0.25658316330483927,-0.21431579812804016],[-0.12858317045019546,-0.11997655048384728]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[-0.3551304024570821,0.8937553874885631,0.71338606911949],"aabb_xy":[[-0.37223248041545026,0.8766485819572933],[-0.33802832449871395,0.9108621930198328]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.11011077796993984,1.2054950412887195,0.71338606911949],"aabb_xy":[[-0.1451107770998955,1.1997498202130552],[-0.07511077883998418,1.2112402623643834]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[-0.1715670366946911,-1.3506250979417922,0.71338606911949],"aabb_xy":[[-0.23156703694609224,-1.4049064229782569],[-0.11156703644328989,-1.2963437729053275]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.36967454158794727,-2.4382396749284676,0.71338606911949],"aabb_xy":[[-0.4396745431902267,-2.4516724681301256],[-0.29967453998566773,-2.4248068817268105]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.6666000044574503,-1.385051387585088,0.71338606911949],"aabb_xy":[[0.6514278351758169,-1.4002202445132916],[0.6817721737390836,-1.369882530656885]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.6099124544773451,1.6511079178063732,0.71338606911949],"aabb_xy":[[0.5874124539653044,1.6286160594409744],[0.6324124549893856,1.6735997761717711]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.19142462036984997,-0.891124102038271,0.71338606911949],"aabb_xy":[[0.16309491042130975,-0.8955848442319881],[0.2197543303183902,-0.886663359844554]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.013373954608625671,-0.9400258061392102,0.71338606911949],"aabb_xy":[[-0.10337395320309561,-0.9562763924526312],[0.07662604398584427,-0.9237752198257891]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.08428552672907541,-2.3894808845077136,0.71338606911949],"aabb_xy":[[-0.09231179735970141,-2.398232379485066],[-0.07625925609844941,-2.380729389530361]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[-0.5289366550591365,0.5116416473915777,0.71338606911949],"aabb_xy":[[-0.5502146632026086,0.4466416450655045],[-0.5076586469156641,0.5766416497176506]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.33313402812799864,-1.1522655632068892,0.71338606911949],"aabb_xy":[[0.3205072408408023,-1.1618116369084621],[0.345760815415195,-1.1427194895053163]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[0.45951564452852667,0.356398368236464,0.71338606911949],"aabb_xy":[[0.3695156480276549,0.3104867258180057],[0.5495156410293984,0.40231001065492217]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.048766212662117,1.144682605238172,0.71338606911949],"aabb_xy":[[0.011266211146485294,1.1334558322220267],[0.08626621417774871,1.1559093782543168]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.6577435895682568,0.007839175815534283,0.71338606911949],"aabb_xy":[[0.646498533997639,-0.0034026219085610005],[0.6689886451388747,0.019080973539629564]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[0.16563804470889476,-2.127688328157223,0.71338606911949],"aabb_xy":[[0.0856380477458556,-2.2047639698009966],[0.24563804167193393,-2.0506126865134497]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[0.6668441799692535,-1.1685359857803004,0.71338606911949],"aabb_xy":[[0.6559925737203779,-1.1793952765079514],[0.6776957862181291,-1.1576766950526494]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[-0.2928417067932965,1.5983006570466007,0.71338606911949],"aabb_xy":[[-0.3009553614666736,1.5901948405925717],[-0.2847280521199194,1.6064064735006298]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[-0.5561918538244619,0.7507612028222979,0.71338606911949],"aabb_xy":[[-0.5598951151536008,0.7470591845135799],[-0.552488592495323,0.7544632211310156]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[0.347325772195036,1.296269626195674,0.71338606911949],"aabb_xy":[[0.3344538686940958,1.2162696257818377],[0.3601976756959761,1.37626962660951]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[-0.6275510287430636,-1.9883503239144074,0.71338606911949],"aabb_xy":[[-0.6504667416281134,-2.0112546210508313],[-0.6046353158580136,-1.965446026777984]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[0.5486157692930635,-0.638542238405255,0.71338606911949],"aabb_xy":[[0.5141534218949215,-0.6730361208030776],[0.5830781166912051,-0.6040483560074322]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_28","position":[0.3144096687146878,-0.9692697541354347,0.71338606911949],"aabb_xy":[[0.2919096684711724,-0.9814743887952067],[0.3369096689582032,-0.9570651194756628]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[-0.2591321227469769,-2.172338689510144,0.71338606911949],"aabb_xy":[[-0.31413212236872273,-2.2273223822976167],[-0.20413212312523105,-2.1173549967226712]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6768388654973378,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9060.png","name":"9060"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9060.png","name":"9060"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5091.png","name":"5091"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2278.png","name":"2278"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8355.png","name":"8355"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4886.png","name":"4886"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":842.4377413576188,"rotation_z_degrees":258.62244573925636,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0013239467421594202,0.005000075572301744,0.005276863058912732]},{"name":"camera_2","offset_m":[-0.011123484237064702,0.009239889884038132,0.018415753322011858]},{"name":"camera_3","offset_m":[0.011142802209194148,-0.0004317712192752274,-0.006403624580645051]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008191916071816669,0.0008538536287295232,-0.0015495738003086196],"end_effector_yaw_offset_degrees":0.43502343026915913},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008467600894201733,-0.0016770638262897477,0.00015286034105429407],"end_effector_yaw_offset_degrees":-0.4732966615765202},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001798208143155535,0.001592239101381586,0.0011587880332655093],"end_effector_yaw_offset_degrees":0.40756921266557344}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011570237711538388,0.0029166301373363375],"position_m":[0.21295702377115383,0.02671663013733634,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004181947155153754,-0.002056112229288548],"position_m":[0.27878194715515375,-0.3096561122292885,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010260479779371752,-0.004700617945754827],"position_m":[0.16257395202206282,0.22089938205424517,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00045552767154099713,-0.0026733884073866523],"position_m":[0.354155527671541,0.16552661159261334,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b404fe9e6dd570a7c1325bbfc7ccf4ce149ca47c5ab80eac880ef0ac39de214","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0018.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9060/tex_ceiling_textures_4886/tex_floor_textures_8355/tex_table_textures_5091/tex_wall_textures_2278","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8844117428557680912,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8844117428557680912,"visual_seed":8844117428557680912,"scene_id":"lab_003","finished_at":"2026-09-04T14:33:26"} +{"episode_id":"ep_000019","started_at":"2026-09-04T14:33:30","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.3794593791320719,0.2179898932150408,0.71338606911949],"aabb_xy":[[-0.40237509201712185,0.19508559607861736],[-0.356543666247022,0.24089419035146437]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.48802217649697033,-1.8231121994515598,0.71338606911949],"aabb_xy":[[0.4630221769452318,-1.8332546833166943],[0.5130221760487088,-1.8129697155864248]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.437847888502443,0.6986612394345282,0.71338606911949],"aabb_xy":[[-0.4474795247228726,0.6890239266548193],[-0.4282162522820134,0.7082985522142371]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[-0.3854131708946188,-2.1211261053009722,0.71338606911949],"aabb_xy":[[-0.4494131731150258,-2.16549918942626],[-0.32141316867421177,-2.0767530211756835]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.37896584857383386,1.330444176315984,0.71338606911949],"aabb_xy":[[0.3089658451822719,1.295128402612553],[0.44896585196539585,1.3657599500194146]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.6034751184626924,-0.8568058967235934,0.71338606911949],"aabb_xy":[[-0.6105154283962295,-0.9368058961232649],[-0.5964348085291555,-0.7768058973239221]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[0.49016291114344535,-0.8395372574997693,0.71338606911949],"aabb_xy":[[0.4201629093346999,-0.8608910262639567],[0.5601629129521908,-0.818183488735582]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.7048430271441832,-0.7217566204080197,0.71338606911949],"aabb_xy":[[0.6975992610979379,-0.8017566186116221],[0.7120867931904286,-0.6417566222044173]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[0.5872663544595609,-1.5969804967528227,0.71338606911949],"aabb_xy":[[0.5072725308810028,-1.6769804993456643],[0.6672601780381192,-1.5169804941599812]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[0.47856018696963476,0.22863755418678222,0.71338606911949],"aabb_xy":[[0.4614581090112666,0.21153074865551244],[0.4956622649280029,0.24574435971805195]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.3536554152071474,-1.5992992888363493,0.71338606911949],"aabb_xy":[[0.34389942569797344,-1.6090618228955837],[0.3634114047163212,-1.5895367547771149]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.6605920962219629,-1.4321711007626383,0.71338606911949],"aabb_xy":[[0.6473611506872815,-1.4453985197846373],[0.6738230417566441,-1.4189436817406385]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.282889277163944,-0.5478814564622296,0.71338606911949],"aabb_xy":[[-0.29753268271797695,-0.5625401761190137],[-0.268245871609911,-0.5332227368054453]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[-0.5944844000267671,0.33923369400582803,0.71338606911949],"aabb_xy":[[-0.6290754828808122,0.2742336937207969],[-0.5598933171727217,0.40423369429085904]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[0.2436123772276222,-1.6128534490808033,0.71338606911949],"aabb_xy":[[0.21861237729510433,-1.6197361173017266],[0.2686123771601401,-1.60597078085988]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[-0.4476574633904215,1.6552678584442515,0.71338606911949],"aabb_xy":[[-0.4632132328006868,1.6397174251998445],[-0.4321016939801563,1.670818291688659]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.21122743408440103,0.6147531875765448,0.71338606911949],"aabb_xy":[[-0.27522743642720254,0.5698123363324124],[-0.14722743174159944,0.6596940388206773]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.35365099877581674,0.9401664669382832,0.71338606911949],"aabb_xy":[[-0.37615099901933213,0.9279618322785113],[-0.33115099853230134,0.9523711015980552]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.0532359317820561,-1.5255342210954146,0.71338606911949],"aabb_xy":[[-0.10322904389124801,-1.5755342217696107],[-0.0032428196728642176,-1.4755342204212192]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.34691762515115254,-0.13983478101738633,0.71338606911949],"aabb_xy":[[-0.3639277224412032,-0.15596926951566023],[-0.3299075278611019,-0.12370029251911238]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.5975626007997875,-1.4360456383587137,0.71338606911949],"aabb_xy":[[-0.6164469845682978,-1.4549315631390665],[-0.5786782170312774,-1.417159713578361]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[-0.03594236278387397,1.045599086429255,0.71338606911949],"aabb_xy":[[-0.08542278399783276,0.9815990885164032],[0.01353805843008482,1.1095990843421069]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[0.33301401557118937,-2.1978654761616125,0.71338606911949],"aabb_xy":[[0.3269770025705246,-2.2038921772305606],[0.33905102857185404,-2.1918387750926644]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[0.45586195106900407,-1.301747908133394,0.71338606911949],"aabb_xy":[[0.44502147284248916,-1.3189341894240427],[0.466702429295519,-1.2845616268427453]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[-0.5683749180936224,-0.2460331218032108,0.71338606911949],"aabb_xy":[[-0.6323749201433543,-0.28612760489251876],[-0.5043749160438903,-0.20593863871390286]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_25","position":[-0.6244620470383776,-1.2065453582827732,0.71338606911949],"aabb_xy":[[-0.6523070838189847,-1.237329857021085],[-0.5966170102577705,-1.1757608595444615]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[0.5411141639393879,-2.0450927321549157,0.71338606911949],"aabb_xy":[[0.5036141641223544,-2.0497309434660576],[0.5786141637564215,-2.040454520843774]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[-0.4538872582936494,0.5696960346284734,0.71338606911949],"aabb_xy":[[-0.503860323826165,0.5196960348159406],[-0.403914192761134,0.6196960344410064]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6754937949016333,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6955.png","name":"6955"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6955.png","name":"6955"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5993.png","name":"5993"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6495.png","name":"6495"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1237.png","name":"1237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5086.png","name":"5086"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":536.6485780087708,"rotation_z_degrees":315.92786034400217,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007995895899788854,0.016353465999568526,0.009156668541538734]},{"name":"camera_2","offset_m":[-0.013320628150622241,0.010788225127619719,0.006961755685512362]},{"name":"camera_3","offset_m":[-8.500004673623121e-05,0.01623770136513081,0.01133978284568207]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009132439632530231,0.0003440928613334176,0.00045990981147939767],"end_effector_yaw_offset_degrees":-0.8148487389204353},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016694205126471084,-0.0006973180957034653,0.001631652916573767],"end_effector_yaw_offset_degrees":0.5577292463202574},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.814361727440011e-05,-0.0005166980883177842,-0.00013676037519392593],"end_effector_yaw_offset_degrees":-0.5441603658222718}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023057018661524443,-0.0014638175335766656],"position_m":[0.20949429813384754,0.022336182466423337,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023295027955738713,-0.002713159733514774],"position_m":[0.2769295027955739,-0.31031315973351475,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0040597045557559846,0.003469735087823501],"position_m":[0.167659704555756,0.2290697350878235,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027658929090721308,-0.0024127098998646544],"position_m":[0.35093410709092787,0.16578729010013532,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a121d1a878d66e2a8623dad2fb8d9212629118a4205edcca6cc0cdc75e1c1417","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6955/tex_ceiling_textures_5086/tex_floor_textures_1237/tex_table_textures_5993/tex_wall_textures_6495","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6767577789123603731,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6767577789123603731,"visual_seed":6767577789123603731,"scene_id":"lab_003","finished_at":"2026-09-04T14:36:12"} +{"episode_id":"ep_000020","started_at":"2026-09-04T14:36:16","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.23133877954413573,-2.2790587737074954,0.71338606911949],"aabb_xy":[[-0.25425449242918563,-2.301963070843919],[-0.20842306665908586,-2.256154476571072]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.15232498486400103,-2.450855640515815,0.71338606911949],"aabb_xy":[[-0.20232498652549577,-2.5008540827715176],[-0.10232498320250626,-2.400857198260112]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[0.498283079014173,0.5217506308366606,0.71338606911949],"aabb_xy":[[0.4342830798444032,0.4749839437176981],[0.562283078183943,0.568517317955623]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[0.013635400355961336,1.1286120761254175,0.71338606911949],"aabb_xy":[[-0.07636459823850861,1.1123614898119967],[0.10363539895043128,1.1448626624388387]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.22121543895129647,1.3700863629869113,0.71338606911949],"aabb_xy":[[0.183715438159301,1.363718522028721],[0.2587154397432919,1.3764542039451013]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.47342913654336033,-2.125455280659618,0.71338606911949],"aabb_xy":[[-0.4910619721368879,-2.1430782266752404],[-0.45579630094983276,-2.1078323346439944]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[0.6794279256856102,1.7482837429964948,0.71338606911949],"aabb_xy":[[0.6569279261619027,1.7257877955458738],[0.7019279252093175,1.7707796904471154]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.3339668043450372,-0.7967486801984405,0.71338606911949],"aabb_xy":[[0.3148544969870583,-0.8158834590756825],[0.35307911170301604,-0.7776139013211985]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.6806213958289644,-2.4385101873386654,0.71338606911949],"aabb_xy":[[0.6501371457019343,-2.4885101871201614],[0.7111056459559946,-2.3885101875571695]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.5819676745491172,-0.3634818027468283,0.71338606911949],"aabb_xy":[[-0.6194676757339099,-0.36790002544288875],[-0.5444676733643243,-0.3590635800507677]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[-0.46259686430636976,-0.5051835506842277,0.71338606911949],"aabb_xy":[[-0.4824879041867101,-0.5178393619689247],[-0.4427058244260296,-0.492527739399531]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.01235900563961645,-2.293193221343517,0.71338606911949],"aabb_xy":[[-0.025140995024962254,-2.3088802793437386],[0.049859006304195146,-2.2775061633432943]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.16741653892085417,1.3241901906728488,0.71338606911949],"aabb_xy":[[-0.18991653873475656,1.319715574302368],[-0.1449165391069518,1.3286648070433296]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.09807431986902826,-2.1412962934956132,0.71338606911949],"aabb_xy":[[0.09008083007374626,-2.149294425436089],[0.10606780966431033,-2.1332981615551376]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[-0.59521725670424,1.2119079053858446,0.71338606911949],"aabb_xy":[[-0.6789394822043224,1.1219079018511486],[-0.5114950312041575,1.3019079089205405]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[0.4943826546953427,1.0382246168154192,0.71338606911949],"aabb_xy":[[0.4343826548487759,0.9814059946223805],[0.5543826545419095,1.095043239008458]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.47557737284432366,0.24155558144831435,0.71338606911949],"aabb_xy":[[-0.5355773737051364,0.19012915144182793],[-0.4155773719835108,0.2929820114548007]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[0.2061014203014634,-2.0469194346171666,0.71338606911949],"aabb_xy":[[0.12610142164457738,-2.06142429354143],[0.2861014189583494,-2.032414575692904]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.4557815390839406,-2.075604547317053,0.71338606911949],"aabb_xy":[[0.3917815370342086,-2.1156990304063608],[0.5197815411336726,-2.035510064227745]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.6422265263870623,-1.2628960278967085,0.71338606911949],"aabb_xy":[[-0.672194083296888,-1.2928960281945943],[-0.6122589694772367,-1.2328960275988228]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.5342906380635315,-1.9450412601855125,0.71338606911949],"aabb_xy":[[-0.5447021967440151,-1.9503869935214104],[-0.5238790793830477,-1.9396955268496137]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[-0.30231494255151165,1.7012246816358068,0.71338606911949],"aabb_xy":[[-0.32477971252291676,1.6787246807569463],[-0.2798501725801065,1.7237246825146673]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[0.6506822787703987,-1.8263237438684434,0.71338606911949],"aabb_xy":[[0.6006822777512635,-1.8627899596062716],[0.700682279789534,-1.7898575281306157]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_23","position":[-0.4559650613099552,-0.9481711140570512,0.71338606911949],"aabb_xy":[[-0.4688369648108953,-1.0281711144708874],[-0.44309315780901504,-0.8681711136432151]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[-0.2868881221855439,-1.460563981169737,0.71338606911949],"aabb_xy":[[-0.35088812245952217,-1.510630081367025],[-0.2228881219115657,-1.410497880972449]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.32810461721013556,-1.0224143904279235,0.71338606911949],"aabb_xy":[[-0.36310461634009117,-1.0281596115035876],[-0.29310461808017985,-1.0166691693522594]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_26","position":[-0.37101438493103067,-0.23195447028970628,0.71338606911949],"aabb_xy":[[-0.3815818645891297,-0.2424995004027148],[-0.36044690527293166,-0.2214094401766977]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[0.6901986181966351,-2.005639384962625,0.71338606911949],"aabb_xy":[[0.6676986176845944,-2.028131243328023],[0.7126986187086756,-1.9831475265972265]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[0.36875666051451983,-0.47691055356659895,0.71338606911949],"aabb_xy":[[0.3474786523710476,-0.541910555892672],[0.3900346686579921,-0.41191055124052584]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718303076821233,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2707.png","name":"2707"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2707.png","name":"2707"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8331.png","name":"8331"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3012.png","name":"3012"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/192.png","name":"192"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7607.png","name":"7607"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":814.6421961964643,"rotation_z_degrees":119.93669651969408,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009099199921592825,-0.01067723884560051,-0.008631474263207957]},{"name":"camera_2","offset_m":[-0.00026355965396119077,-0.005568610544850628,0.0057135267435213105]},{"name":"camera_3","offset_m":[0.0107815281847672,-0.015068025484923284,-0.008559807704849392]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008782114263229564,-0.00029525484277846247,-0.0004339682027702221],"end_effector_yaw_offset_degrees":-0.13789739662548572},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004627152767005807,0.0012558323600207239,0.0006655641793082072],"end_effector_yaw_offset_degrees":0.828949113931623},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012901304180398428,0.0015046725032367993,0.0001586574081637697],"end_effector_yaw_offset_degrees":-0.9890223498696387}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004028668376790541,-1.5629403004377776e-05],"position_m":[0.20777133162320946,0.023784370596995626,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016656979590425826,-0.002459006502127168],"position_m":[0.2729343020409574,-0.31005900650212714,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023300779789370016,0.0010284753986979618],"position_m":[0.165930077978937,0.22662847539869796,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032876314113816614,0.001376573185858006],"position_m":[0.3569876314113817,0.169576573185858,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7256bd6c5159c086190291c75231356a8b5f9473a28ce52c644805d2dbe1aa23","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2707/tex_ceiling_textures_7607/tex_floor_textures_192/tex_table_textures_8331/tex_wall_textures_3012","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":739319244054031638,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":739319244054031638,"visual_seed":739319244054031638,"scene_id":"lab_003","finished_at":"2026-09-04T14:39:02"} +{"episode_id":"ep_000021","started_at":"2026-09-04T14:39:05","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[0.20082952198317938,1.4352342302627092,0.71338606911949],"aabb_xy":[[0.13582952098267884,1.3844478651080343],[0.2658295229836799,1.4860205954173842]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.5411739377540865,0.5755381152499486,0.71338606911949],"aabb_xy":[[-0.6111739341640481,0.5551001795982667],[-0.47117394134412455,0.5959760509016302]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.48629602257286564,-0.0025173169217644897,0.71338606911949],"aabb_xy":[[0.4637968868466386,-0.025017317700027464],[0.5087951582990926,0.019982683856498484]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.6616147095131517,-1.9603094944515798,0.71338606911949],"aabb_xy":[[0.6241147091649238,-1.9721008900326633],[0.6991147098613794,-1.9485180988704962]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[0.4017405300416874,-1.1036822964743718,0.71338606911949],"aabb_xy":[[0.33174052791025777,-1.126444262100067],[0.47174053217311684,-1.0809203308486757]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.25724083061522807,1.1624903185595095,0.71338606911949],"aabb_xy":[[0.18724082797864172,1.142385453563644],[0.3272408332518144,1.182595183555375]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[0.15239112216982587,-1.0570907275078292,0.71338606911949],"aabb_xy":[[0.14435478746854102,-1.065128846812246],[0.1604274568711107,-1.0490526082034124]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.21531811423562258,-1.476395892925307,0.71338606911949],"aabb_xy":[[-0.26531811367581815,-1.526363817409623],[-0.16531811479542693,-1.4264279684409904]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.20729681289942536,-1.190314185183264,0.71338606911949],"aabb_xy":[[-0.242296812029381,-1.196059406258928],[-0.17229681376946968,-1.1845689641075998]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[-0.45695407023859635,-1.7558737150758388,0.71338606911949],"aabb_xy":[[-0.48195406940422947,-1.7628259607811954],[-0.43195407107296324,-1.7489214693704822]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[0.39335540854194817,-1.5553884157576097,0.71338606911949],"aabb_xy":[[0.3565607754170419,-1.5922942908541917],[0.43015004166685444,-1.5184825406610272]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[-0.1039258229243416,-2.4923773090237846,0.71338606911949],"aabb_xy":[[-0.16792582460233896,-2.5408947005030984],[-0.03992582124634424,-2.44385991754447]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[0.13248223551674843,-2.2969313386667394,0.71338606911949],"aabb_xy":[[0.10748223596500994,-2.3070738225318737],[0.1574822350684869,-2.286788854801604]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[0.5285904320564827,-1.3789493631651535,0.71338606911949],"aabb_xy":[[0.5139470265024496,-1.3936080828219377],[0.5432338376105156,-1.3642906435083693]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.40699041080718273,0.17041132329545938,0.71338606911949],"aabb_xy":[[-0.452269025688332,0.10641132394727568],[-0.3617117959260335,0.23441132264364303]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.2501745029490554,-1.431974081145614,0.71338606911949],"aabb_xy":[[0.2001745015881682,-1.4819519857210297],[0.30017450430994264,-1.3819961765701985]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[-0.37592396161384534,0.7607738618940423,0.71338606911949],"aabb_xy":[[-0.46592396103221617,0.7273983650498526],[-0.2859239621954744,0.794149358738232]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[0.29866698294382754,-0.9038375842730715,0.71338606911949],"aabb_xy":[[0.28988575579659137,-0.9126173315616017],[0.3074482100910638,-0.8950578369845414]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[-0.2501301346635665,-1.9636001303553536,0.71338606911949],"aabb_xy":[[-0.28513013464006237,-1.97306474640297],[-0.2151301346870707,-1.9541355143077368]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.5883593767648332,0.5919306874356098,0.71338606911949],"aabb_xy":[[0.4983593730879149,0.5304982808585054],[0.6783593804417513,0.6533630940127141]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.3649704559877178,-2.3951054292083667,0.71338606911949],"aabb_xy":[[0.3274704554903595,-2.3990741127564847],[0.402470456485076,-2.3911367456602477]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.11370975434742736,0.5020267098416458,0.71338606911949],"aabb_xy":[[-0.13157886210188285,0.48819380186443484],[-0.09584064659297188,0.5158596178188567]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[-0.6402908133954499,-0.25538105994865834,0.71338606911949],"aabb_xy":[[-0.6652908126674122,-0.27172642354482063],[-0.6152908141234876,-0.23903569635249597]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[-0.15667327266983733,-1.6320329449652446,0.71338606911949],"aabb_xy":[[-0.16298537220617576,-1.6377998842184633],[-0.1503611731334989,-1.6262660057120255]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_24","position":[-0.1613074211828207,0.05748598494160584,0.71338606911949],"aabb_xy":[[-0.21130742154338675,0.007505997732002895],[-0.11130742082225463,0.10746597215120879]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[0.5196570547629975,-2.169886310281182,0.71338606911949],"aabb_xy":[[0.5095753476844239,-2.2498863081732963],[0.5297387618415709,-2.089886312389067]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[-0.4386237657093891,1.0046491716492874,0.71338606911949],"aabb_xy":[[-0.502623768928027,0.957926059750279],[-0.37462376249075124,1.0513722835482957]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6740268334362822,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4592.png","name":"4592"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4592.png","name":"4592"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2157.png","name":"2157"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6516.png","name":"6516"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1475.png","name":"1475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1155.png","name":"1155"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":841.2707137095965,"rotation_z_degrees":198.3080229479114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013375530576419551,0.009877951839282511,-0.004999918267312151]},{"name":"camera_2","offset_m":[-0.00960833050894168,0.003777559242223439,-0.0015699221276250647]},{"name":"camera_3","offset_m":[0.007482341940113657,0.013418701509738225,-4.449242751363228e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00039648574815446744,-0.0017518095746776627,0.0018698163362458357],"end_effector_yaw_offset_degrees":-0.5490037712759905},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016652170666279428,-0.0008079955565134492,-0.0018065370892416618],"end_effector_yaw_offset_degrees":-0.04756356506123316},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011304687107382724,0.0007245918997218328,-0.0007265526837175016],"end_effector_yaw_offset_degrees":-0.3544140098160775}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004775271179899099,0.004971624233270531],"position_m":[0.21657527117989908,0.028771624233270534,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038273596736989523,0.003437206890183537],"position_m":[0.27842735967369897,-0.3041627931098164,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002673456607650202,-0.0020699894978139176],"position_m":[0.1662734566076502,0.22353001050218607,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017573634570502684,-0.00414445738636167],"position_m":[0.35194263654294977,0.1640555426136383,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"898e253c6589d28e9e48156370b8928c35fe93f308752c1880e3dd6aa24a80ea","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4592/tex_ceiling_textures_1155/tex_floor_textures_1475/tex_table_textures_2157/tex_wall_textures_6516","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4048857959530772260,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4048857959530772260,"visual_seed":4048857959530772260,"scene_id":"lab_003","finished_at":"2026-09-04T14:41:49"} +{"episode_id":"ep_000022","started_at":"2026-09-04T14:41:53","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[0.15952731534614795,0.779427070368472,0.71338606911949],"aabb_xy":[[0.09452731424020466,0.7544616973003437],[0.22452731645209123,0.8043924434366003]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.46780403788336594,-1.5916604598039001,0.71338606911949],"aabb_xy":[[-0.4757980264610693,-1.5996605398989903],[-0.4598100493056625,-1.5836603797088096]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[-0.3817092476927433,-2.502871004055252,0.71338606911949],"aabb_xy":[[-0.4467092455743911,-2.5539946677617933],[-0.3167092498110955,-2.4517473403487116]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.5032422118530433,0.33114190107897956,0.71338606911949],"aabb_xy":[[-0.5572578081349432,0.26714189818672235],[-0.4492266155711432,0.39514190397123666]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.47003101789250246,0.8577993618549562,0.71338606911949],"aabb_xy":[[0.4523981822989749,0.8401764158393332],[0.48766385348603003,0.8754223078705792]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[-0.6254113797381741,-0.7436288225630241,0.71338606911949],"aabb_xy":[[-0.6362629859870496,-0.7544881132906751],[-0.6145597734892984,-0.7327695318353731]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[-0.050916345680214525,-2.3358363300442035,0.71338606911949],"aabb_xy":[[-0.13091634894422766,-2.349396362353117],[0.029083657583798606,-2.32227629773529]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.2912738814731044,1.593220558985608,0.71338606911949],"aabb_xy":[[0.28164224525267484,1.5835832462058992],[0.3009055176935341,1.602857871765317]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[0.25736579300522533,-2.253768588752717,0.71338606911949],"aabb_xy":[[0.1933657907848183,-2.298141672878005],[0.32136579522563236,-2.2093955046274285]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.04762460093748011,-2.5407120313050475,0.71338606911949],"aabb_xy":[[-0.08512460110935205,-2.5734127666879543],[-0.010124600765608165,-2.50801129592214]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[0.3766146583289949,-2.0434032179723616,0.71338606911949],"aabb_xy":[[0.3672676507466996,-2.0577068401900056],[0.38596166591129005,-2.0290995957547175]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[0.1638592853411378,-0.9652531177391483,0.71338606911949],"aabb_xy":[[0.09985928212249998,-1.0119762296381567],[0.2278592885597757,-0.9185300058401401]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[-0.38328607124303327,-0.9926490165514466,0.71338606911949],"aabb_xy":[[-0.43825979327936615,-1.0476490161156797],[-0.3283123492067004,-0.9376490169872134]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[-0.05663370212781993,-0.775933368968929,0.71338606911949],"aabb_xy":[[-0.06543575743679263,-0.783744695123858],[-0.04783164681884721,-0.7681220428139999]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[0.27768916429446266,-2.4958312018940267,0.71338606911949],"aabb_xy":[[0.24018916362988393,-2.5115182598942485],[0.3151891649590413,-2.480144143893804]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[0.4072556416487467,-0.6918419337567225,0.71338606911949],"aabb_xy":[[0.32725564424515324,-0.7718345049549052],[0.4872556390523401,-0.6118493625585396]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[-0.4950877114982791,-0.07523447649680781,0.71338606911949],"aabb_xy":[[-0.5121897894566472,-0.09234128202807758],[-0.4779856335399109,-0.05812767096553807]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.044688504254174144,-1.2152184612045254,0.71338606911949],"aabb_xy":[[-0.005284789749086305,-1.2652184617590727],[0.09466179825743459,-1.165218460649978]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_18","position":[0.43139778581701393,0.4955380865280308,0.71338606911949],"aabb_xy":[[0.42347450557826566,0.4730380862900274],[0.4393210660557623,0.5180380867660341]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.4852499682628353,-1.28103397868764,0.71338606911949],"aabb_xy":[[-0.5237956610880363,-1.3195797497438289],[-0.44670427543763425,-1.2424882076314514]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.5680242896128229,-1.8148760828063382,0.71338606911949],"aabb_xy":[[0.513024291411078,-1.8553980494327755],[0.6230242878145676,-1.7743541161799004]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.4067754598346878,1.5301140315767365,0.71338606911949],"aabb_xy":[[-0.4683662190586807,1.4661140334676899],[-0.34518470061069506,1.5941140296857836]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_22","position":[0.20581414100878725,0.5393722508160748,0.71338606911949],"aabb_xy":[[0.2004816263541743,0.5340479225708392],[0.21114665566340027,0.5446965790613103]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[0.6681925484208093,-2.0577199912074775,0.71338606911949],"aabb_xy":[[0.6506925481614728,-2.0718115333962506],[0.6856925486801461,-2.0436284490187053]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[-0.508240548738646,0.006443231206256783,0.71338606911949],"aabb_xy":[[-0.5457405490868736,-0.00534816437482677],[-0.4707405483904181,0.018234626787340336]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[0.4406751318168409,-1.9195274975524854,0.71338606911949],"aabb_xy":[[0.36067513465726564,-1.9310750985103022],[0.5206751289764162,-1.9079798965946682]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_26","position":[-0.26364877330020814,-1.577964087790072,0.71338606911949],"aabb_xy":[[-0.30114877379756644,-1.5819327713381903],[-0.22614877280284995,-1.5739954042419537]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_27","position":[0.04101069293047033,-0.9176822712064501,0.71338606911949],"aabb_xy":[[0.029138609918969216,-1.0026822709001004],[0.05288277594197144,-0.8326822715127997]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_28","position":[-0.37794242699861386,-1.981104685676621,0.71338606911949],"aabb_xy":[[-0.3905692142858102,-1.9906507593781937],[-0.3653156397114175,-1.971558611975048]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707462064681374,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6427.png","name":"6427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6427.png","name":"6427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4898.png","name":"4898"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6771.png","name":"6771"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2329.png","name":"2329"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9174.png","name":"9174"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":656.8556925374376,"rotation_z_degrees":129.42607272426127,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01807083753081318,0.016716545192011694,-0.012668995120509976]},{"name":"camera_2","offset_m":[-0.01623354604811588,0.005214033484140436,-0.006881432152359883]},{"name":"camera_3","offset_m":[-0.006641200146693515,-0.006155015181150003,-7.557078269283465e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014933826650546335,-0.0016775195384375833,-0.0019768358327515844],"end_effector_yaw_offset_degrees":0.9990496410594683},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001271441207123786,0.001038373810966204,-0.0010503241477325784],"end_effector_yaw_offset_degrees":-0.6939927840703646},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005962871520418878,-0.0003147948728527781,-0.00024862412051827616],"end_effector_yaw_offset_degrees":0.8744657029242713}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0043337018712225625,-0.0008594638414990852],"position_m":[0.21613370187122255,0.022940536158500918,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024345814374799692,-0.001587691101089488],"position_m":[0.27216541856252,-0.30918769110108946,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003080170081616703,0.0005037669276201293],"position_m":[0.1605198299183833,0.22610376692762013,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001058834390584038,0.0010874279562957667],"position_m":[0.352641165609416,0.16928742795629576,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"750bc80be395d6607d507c8b20287894ac45251e49081737dd614481b6b5ab48","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0022.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6427/tex_ceiling_textures_9174/tex_floor_textures_2329/tex_table_textures_4898/tex_wall_textures_6771","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":704443940138451732,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":704443940138451732,"visual_seed":704443940138451732,"scene_id":"lab_003","finished_at":"2026-09-04T14:44:35"} +{"episode_id":"ep_000023","started_at":"2026-09-04T14:44:40","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.643296160341819,0.9532896896701177,0.71338606911949],"aabb_xy":[[0.6197110368779242,0.8882896874246858],[0.6668812838057139,1.0182896919155495]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.28824916854992494,0.9263445527302387,0.71338606911949],"aabb_xy":[[-0.3028925741039579,0.9116858330734544],[-0.27360576299589195,0.9410032723870229]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[0.13714287359730593,-2.3274816973165025,0.71338606911949],"aabb_xy":[[0.047142873874131734,-2.350555049851682],[0.22714287332048008,-2.304408344781322]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[0.0562128719809879,-0.8790607299505866,0.71338606911949],"aabb_xy":[[0.0012128723592420634,-0.9340444227380594],[0.11121287160273374,-0.824077037163114]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.45667183657271565,-2.3070351324143696,0.71338606911949],"aabb_xy":[[-0.4626383755134514,-2.312996277073734],[-0.4507052976319798,-2.3010739877550055]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.028407739037171198,-0.3385664995030644,0.71338606911949],"aabb_xy":[[-0.05090773904731949,-0.35266271914266767],[-0.005907739027022907,-0.3244702798634611]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[-0.5815897474859727,-1.7840783138337044,0.71338606911949],"aabb_xy":[[-0.6068105843458121,-1.8093020646865907],[-0.5563689106261328,-1.7588545629808172]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.202171220838744,1.1593408608580114,0.71338606911949],"aabb_xy":[[-0.28217121785299193,1.1392063091846],[-0.122171223824496,1.1794754125314226]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[0.3677910973833858,1.7457804389589762,0.71338606911949],"aabb_xy":[[0.30379109808921756,1.681794298590122],[0.431791096677554,1.8097665793278304]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.6460094344684786,-1.3268463664281849,0.71338606911949],"aabb_xy":[[-0.6568499126949935,-1.3440326477188338],[-0.6351689562419637,-1.3096600851375364]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.5472406750276302,-1.8312588171206725,0.71338606911949],"aabb_xy":[[0.4832449776325336,-1.8952588154213807],[0.6112363724227268,-1.7672588188199634]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.194990394378865,-0.7165874184208814,0.71338606911949],"aabb_xy":[[0.17943462496859974,-0.7321378516652887],[0.2105461637891303,-0.7010369851764743]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[-0.5937336021173192,1.4855339816249535,0.71338606911949],"aabb_xy":[[-0.5976474753127416,1.4767849662183967],[-0.5898197289218967,1.4942829970315104]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.31059921911513677,-2.478798284353424,0.71338606911949],"aabb_xy":[[0.27682365992444385,-2.492836779566589],[0.3443747783058298,-2.4647597891402593]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.6581190967940593,1.423603821230412,0.71338606911949],"aabb_xy":[[0.6318302724736187,1.3973323875757606],[0.6844079211145,1.449875254885063]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[0.5710135434862251,-0.4366848848034075,0.71338606911949],"aabb_xy":[[0.5519012361282463,-0.4558196636806495],[0.590125850844204,-0.4175501059261655]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[-0.5693873049699503,1.1950591329866644,0.71338606911949],"aabb_xy":[[-0.5837217300961137,1.1829989174321256],[-0.5550528798437868,1.2071193485412033]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[-0.15541200278711165,-0.5152829432865995,0.71338606911949],"aabb_xy":[[-0.19291200357910707,-0.5216507842447896],[-0.11791200199511617,-0.5089151023284094]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[0.5169059155079387,-0.6405193365010835,0.71338606911949],"aabb_xy":[[0.5002287795148432,-0.6572192604750138],[0.5335830515010342,-0.6238194125271532]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[0.49727158406323846,0.593381124077911,0.71338606911949],"aabb_xy":[[0.46227158575254296,0.5856661091543653],[0.5322715823739339,0.6010961390014566]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_20","position":[-0.03428704199496324,0.6881541159623263,0.71338606911949],"aabb_xy":[[-0.07132115142302295,0.6537769086286169],[0.0027470674330964742,0.7225313232960358]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[0.29767291018495745,0.7292648086975606,0.71338606911949],"aabb_xy":[[0.25636836712122146,0.6652648091294434],[0.33897745324869344,0.7932648082656776]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[0.4131304886538538,-1.2651085130113744,0.71338606911949],"aabb_xy":[[0.3757992121286112,-1.2997615678062266],[0.4504617651790964,-1.2304554582165221]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6691690735793929,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4894.png","name":"4894"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4894.png","name":"4894"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4428.png","name":"4428"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7501.png","name":"7501"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6948.png","name":"6948"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3338.png","name":"3338"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":746.6487135908335,"rotation_z_degrees":332.0756168130651,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008996676943074326,0.008085464520476711,0.008486908229788353]},{"name":"camera_2","offset_m":[-0.016923164803954078,0.014642277876325435,-0.015391981844513687]},{"name":"camera_3","offset_m":[-0.00013459109392589472,0.008765590222659575,-0.0018779679564991346]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001585718828998597,-0.0016152436236565953,0.0007671486439522982],"end_effector_yaw_offset_degrees":-0.8096619822211499},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018376839472612483,0.0008358225390076215,-0.0010206052672516517],"end_effector_yaw_offset_degrees":-0.3560467447216571},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013372403285973138,0.0014518525231099976,0.0011534997878297798],"end_effector_yaw_offset_degrees":0.9427012206235712}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003950370266398714,-0.0008385999393896882],"position_m":[0.20784962973360127,0.022961400060610315,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018340056114410606,0.0030206936659553088],"position_m":[0.272765994388559,-0.3045793063340447,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004207488913239267,-0.00470116230162919],"position_m":[0.15939251108676072,0.2208988376983708,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002756449324896485,-0.0012246444447099867],"position_m":[0.3564564493248965,0.16697535555529,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"44ddf58419e0f2dc8e636249ecfa8f955c590f0515869cd9041a307e91898148","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0023.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4894/tex_ceiling_textures_3338/tex_floor_textures_6948/tex_table_textures_4428/tex_wall_textures_7501","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":986852437240719245,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":986852437240719245,"visual_seed":986852437240719245,"scene_id":"lab_003","finished_at":"2026-09-04T14:47:23"} +{"episode_id":"ep_000024","started_at":"2026-09-04T14:47:28","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[0.5616734802374341,-1.3740748963741414,0.71338606911949],"aabb_xy":[[0.5165021623892652,-1.4380748935186798],[0.6068447980856031,-1.310074899229603]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[-0.20102467541603852,1.2717735379884374,0.71338606911949],"aabb_xy":[[-0.2650246777588401,1.2268326867443047],[-0.13702467307323696,1.3167143892325697]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.2542060792793742,-0.738027288557624,0.71338606911949],"aabb_xy":[[0.23670608000128734,-0.75536538862397],[0.2717060785574611,-0.720689188491278]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.19350618225168204,1.1016045094911155,0.71338606911949],"aabb_xy":[[0.12350617886012004,1.0662887357876845],[0.26350618564324396,1.1369202831945462]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.11096879010693039,0.9973783587926928,0.71338606911949],"aabb_xy":[[0.09580591712999334,0.9822129014975741],[0.1261316630838675,1.0125438160878115]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.022871532449369125,-2.126218260066515,0.71338606911949],"aabb_xy":[[-0.03212846672722036,-2.1812079348414724],[0.07787153162595861,-2.071228585291557]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.2710618588195903,1.720340191380267,0.71338606911949],"aabb_xy":[[-0.3060618580124085,1.7093731453826042],[-0.23606185962677195,1.7313072373779292]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.23829528858097826,1.0108766012771437,0.71338606911949],"aabb_xy":[[-0.30329529121877175,0.959397002577697],[-0.1732952859431848,1.062356199976591]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.02907809773936365,-0.9759747331208004,0.71338606911949],"aabb_xy":[[-0.1187651740474791,-1.065974733375251],[0.0606089785687518,-0.8859747328663498]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.42271301077558476,-0.25691133399449706,0.71338606911949],"aabb_xy":[[-0.4612587036007858,-0.29545710505068573],[-0.3841673179503837,-0.2183655629383084]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.6057104355138326,0.4060946692583993,0.71338606911949],"aabb_xy":[[-0.6282241273372897,0.33609466865739174],[-0.5831967436903753,0.4760946698594068]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.6455860315178137,0.15936544893649618,0.71338606911949],"aabb_xy":[[0.5815860351222406,0.09540216051776262],[0.7095860279133868,0.22332873735522973]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.33137747022456887,-2.0897061004574273,0.71338606911949],"aabb_xy":[[0.28156069075973406,-2.1397060989417307],[0.3811942496894036,-2.039706101973124]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[-0.03008095915845277,1.2250217771749172,0.71338606911949],"aabb_xy":[[-0.05258095916860106,1.2109255575353137],[-0.0075809591483044746,1.2391179968145203]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[0.11214353203871974,-1.6654432517532274,0.71338606911949],"aabb_xy":[[0.10037534524406223,-1.7504432516584494],[0.12391171883337727,-1.5804432518480063]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[-0.27770781284902635,-0.16613207847643796,0.71338606911949],"aabb_xy":[[-0.33283301847861707,-0.22613207991772508],[-0.22258260721943554,-0.1061320770351508]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[0.5725362577764939,0.8514007539778032,0.71338606911949],"aabb_xy":[[0.4888140322764113,0.7614007504431074],[0.6562584832765762,0.9414007575124993]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.30517313438936494,0.36095827380579193,0.71338606911949],"aabb_xy":[[-0.31607891047692765,0.2809582774069628],[-0.29426735830180223,0.4409582702046211]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[0.3309379871856748,-0.6032301069066255,0.71338606911949],"aabb_xy":[[0.3080222743006249,-0.626134404043049],[0.3538537000707247,-0.580325809770202]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.5048492457222449,-0.930884771550647,0.71338606911949],"aabb_xy":[[0.44985603438510824,-0.9858847718894407],[0.5598424570593817,-0.8758847712118535]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6692994885702845,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8234.png","name":"8234"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8234.png","name":"8234"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4319.png","name":"4319"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5638.png","name":"5638"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3117.png","name":"3117"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8087.png","name":"8087"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":832.9864934088426,"rotation_z_degrees":191.9918987241926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00640069308282902,-0.013917093905017483,0.004981413109782305]},{"name":"camera_2","offset_m":[-0.005591600522681239,0.017526675240391764,-0.00689178842015652]},{"name":"camera_3","offset_m":[-0.009593838528426643,-0.011209321305466195,0.004800704143897362]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002874973229901024,0.001471075367506557,-0.00146327175178256],"end_effector_yaw_offset_degrees":-0.9061799926875673},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00013270642112794308,-0.0005272116853442675,0.0017974878582848555],"end_effector_yaw_offset_degrees":-0.4454562383829985},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015659180698465694,-0.001945453659787295,0.0003130847227622753],"end_effector_yaw_offset_degrees":-0.2443250737991054}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016351435870568375,-0.0015919314719261292],"position_m":[0.21016485641294316,0.022208068528073874,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007967048541198405,0.004770095946528447],"position_m":[0.27380329514588014,-0.30282990405347154,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036604548295898166,0.0017465567567771035],"position_m":[0.15993954517041017,0.2273465567567771,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023360055749911445,0.004064750959483083],"position_m":[0.35603600557499115,0.17226475095948307,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e23d2600911ffeb7f4d75623739202bd0963f3a7c8a897857674a43de1ef733b","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8234/tex_ceiling_textures_8087/tex_floor_textures_3117/tex_table_textures_4319/tex_wall_textures_5638","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":281732105837727320,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":281732105837727320,"visual_seed":281732105837727320,"scene_id":"lab_003","finished_at":"2026-09-04T14:50:22"} +{"episode_id":"ep_000025","started_at":"2026-09-04T14:50:25","dimensions":{"distractor":{"count":33,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[0.49983700386334173,0.8583653149752877,0.71338606911949],"aabb_xy":[[0.46233700528772087,0.8456290193117296],[0.5373370024389624,0.8711016106388455]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.5347874575025824,1.4286442716344312,0.71338606911949],"aabb_xy":[[-0.5800660723837316,1.3646442722862473],[-0.4895088426214331,1.4926442709826147]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[-0.5419352370013574,-0.5563980077167887,0.71338606911949],"aabb_xy":[[-0.5644489288248146,-0.6263980083177961],[-0.5194215451779002,-0.4863980071157811]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.42674898696136315,-2.0115759370884017,0.71338606911949],"aabb_xy":[[-0.46121133435950484,-2.0460698194862235],[-0.39228663956322124,-1.9770820546905783]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[0.14564893708268478,-2.556428938274633,0.71338606911949],"aabb_xy":[[0.14074964477612126,-2.5841058575772013],[0.15054822938924825,-2.528752018972064]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[-0.12288381862390785,0.19199380286050438,0.71338606911949],"aabb_xy":[[-0.13092717854986302,0.10699380176513792],[-0.11484045869795266,0.2769938039558708]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.4253467962089066,0.269089390835318,0.71338606911949],"aabb_xy":[[0.38784679591673177,0.2650479154347144],[0.4628467965010814,0.27313086623592164]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[0.1678296404912505,1.6014372112586996,0.71338606911949],"aabb_xy":[[0.1428296412192882,1.585091847662537],[0.19282963976321277,1.6177825748548618]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[0.47610804732188683,-2.1925476464921356,0.71338606911949],"aabb_xy":[[0.46969423367870183,-2.198957466739804],[0.4825218609650717,-2.186137826244467]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[0.1867860148671181,0.5817905591546308,0.71338606911949],"aabb_xy":[[0.16428601505321572,0.5773159427841501],[0.20928601468102048,0.5862651755251116]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[-0.1895402642912486,-0.24634009504946874,0.71338606911949],"aabb_xy":[[-0.2535402606868217,-0.3103033834682023],[-0.12554026789567552,-0.18237680663073516]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.5498349118123649,-2.141868140028552,0.71338606911949],"aabb_xy":[[-0.5680407354736126,-2.1528935406105436],[-0.5316290881511172,-2.1308427394465603]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.5700141981025261,-1.0038010143383669,0.71338606911949],"aabb_xy":[[-0.660014196696996,-1.020051600651788],[-0.4800141995080561,-0.9875504280249459]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[-0.5117805047449272,1.1843914295109519,0.71338606911949],"aabb_xy":[[-0.5757805050189055,1.1343253293136637],[-0.4477805044709491,1.2344575297082396]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.06401757999291291,0.7994381388054759,0.71338606911949],"aabb_xy":[[-0.06813353010498556,0.7953225837726302],[-0.05990162988084023,0.8035536938383213]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.21030027525238565,1.302812737453249,0.71338606911949],"aabb_xy":[[-0.21833660995367046,1.2947746181488322],[-0.20226394055110078,1.3108508567576658]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.6421274851867256,-2.2885897443422722,0.71338606911949],"aabb_xy":[[-0.6646274851968739,-2.302685963981875],[-0.6196274851765773,-2.2744935247026685]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.5033026513458729,0.11078416515329925,0.71338606911949],"aabb_xy":[[0.4783026521802398,0.10383191944794266],[0.528302650511506,0.11773641085865581]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.5944825319127911,-1.9470014567501575,0.71338606911949],"aabb_xy":[[0.5712006897146598,-2.032001458047385],[0.6177643741109224,-1.8620014554529292]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[-0.38559842528088506,0.09479704331912275,0.71338606911949],"aabb_xy":[[-0.3948920435180356,0.05729704483098885],[-0.3763048070437344,0.13229704180725665]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[-0.22814381520049715,-2.3032588669677216,0.71338606911949],"aabb_xy":[[-0.2369250423477334,-2.3120386142562523],[-0.21936258805326095,-2.294479119679192]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[-0.40557698138704024,0.8728277961540654,0.71338606911949],"aabb_xy":[[-0.447761395547871,0.8088277958768542],[-0.3633925672262095,0.9368277964312766]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[0.6524507554474452,-0.6501361344146552,0.71338606911949],"aabb_xy":[[0.5974507572457003,-0.6906581010410928],[0.70745075364919,-0.6096141677882176]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.37225873985673585,-1.7112275060274207,0.71338606911949],"aabb_xy":[[0.32225874028040113,-1.7612080849795269],[0.4222587394330706,-1.661246927075315]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_24","position":[0.6811604499515171,-2.4893553291785655,0.71338606911949],"aabb_xy":[[0.6765253347992836,-2.4932226642557143],[0.6857955651037503,-2.4854879941014167]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[-0.49342535768038565,-0.24306800211828916,0.71338606911949],"aabb_xy":[[-0.5434246328488219,-0.29306800339423633],[-0.44342608251194954,-0.19306800084234202]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_26","position":[0.2091560103520702,1.3515839969589933,0.71338606911949],"aabb_xy":[[0.15917306016459085,1.3015839973164327],[0.2591389605395495,1.4015839966015535]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_27","position":[-0.30941538514589617,-2.084113850650371,0.71338606911949],"aabb_xy":[[-0.3398134962450397,-2.11452075265204],[-0.27901727404675253,-2.053706948648701]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[-0.038939516441283684,0.9754704798696627,0.71338606911949],"aabb_xy":[[-0.10293521383638027,0.911470481568954],[0.0250561809538129,1.0394704781703714]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_29","position":[-0.23797259510942026,-0.594688628202444,0.71338606911949],"aabb_xy":[[-0.2714517623704612,-0.6281677415735509],[-0.20449342784837932,-0.561209514831337]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_30","position":[0.32815780472613,1.023277572327986,0.71338606911949],"aabb_xy":[[0.24315780630870676,0.9384032768657011],[0.4131578031435532,1.108151867790271]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_31","position":[0.6634286118678363,-1.425463643588497,0.71338606911949],"aabb_xy":[[0.6224106684814655,-1.4754636442194542],[0.7044465552542073,-1.3754636429575395]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_32","position":[0.12474219044387258,-1.1815329032366233,0.71338606911949],"aabb_xy":[[0.10256966346722173,-1.2037085703927466],[0.14691471742052342,-1.1593572360805]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6689924700891652,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3463.png","name":"3463"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3463.png","name":"3463"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1060.png","name":"1060"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5496.png","name":"5496"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/103.png","name":"103"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4944.png","name":"4944"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":631.6583007670392,"rotation_z_degrees":58.02778037079435,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021780328328117812,0.009915827320510728,0.019918677226770164]},{"name":"camera_2","offset_m":[-0.01842377895242807,0.003829884247742558,0.017910104602796833]},{"name":"camera_3","offset_m":[0.007770514178545632,0.0062477684120592035,-5.223121117928914e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018871153239083242,-0.0014703388801178923,-0.00037222474957033483],"end_effector_yaw_offset_degrees":-0.07065714227047937},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016269654032865827,0.0008483273458995866,-0.0007982792223107263],"end_effector_yaw_offset_degrees":0.2998070272643456},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005551195223137424,-0.0006580147735719439,-0.0009420833282787063],"end_effector_yaw_offset_degrees":-0.2840960566121513}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034805098834522,-0.004284978422736222],"position_m":[0.2083194901165478,0.01951502157726378,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004985414129164305,-0.0026863510393637293],"position_m":[0.2696145858708357,-0.3102863510393637,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002587112866285225,0.0004100764239008958],"position_m":[0.1661871128662852,0.2260100764239009,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029306402365046813,-0.002049062488390557],"position_m":[0.3507693597634953,0.16615093751160942,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c3dab13705bf99484a4b013366ae02aa641e3149e0a1e491cb73e16a10a5a27a","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3463/tex_ceiling_textures_4944/tex_floor_textures_103/tex_table_textures_1060/tex_wall_textures_5496","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":688565310783256298,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":688565310783256298,"visual_seed":688565310783256298,"scene_id":"lab_003","finished_at":"2026-09-04T14:53:03"} +{"episode_id":"ep_000026","started_at":"2026-09-04T14:53:07","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[-0.3082374833826575,-0.1799452430139339,0.71338606911949],"aabb_xy":[[-0.3581201802603537,-0.22994524226020865],[-0.2583547865049613,-0.12994524376765915]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.23110295426428706,-0.9273769849581086,0.71338606911949],"aabb_xy":[[0.22025134801541146,-0.9382362756857596],[0.24195456051316266,-0.9165176942304576]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.6307478525103069,-1.4828041046455849,0.71338606911949],"aabb_xy":[[-0.6759191703584758,-1.5468041017901235],[-0.5855765346621379,-1.4188041075010465]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[0.11218177153699138,-1.7838209194855874,0.71338606911949],"aabb_xy":[[0.09450614094839303,-1.80150113576499],[0.1298574021255897,-1.7661407032061844]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.48155668624870024,-0.5923293911011063,0.71338606911949],"aabb_xy":[[-0.5455566876566907,-0.644118342625031],[-0.4175566848407095,-0.5405404395771816]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.12989483432356075,-1.4366147200032275,0.71338606911949],"aabb_xy":[[0.03989483198954172,-1.5140970745883402],[0.21989483665757983,-1.3591323654181149]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[-0.24850663608618329,-0.543674158067533,0.71338606911949],"aabb_xy":[[-0.2526424924188835,-0.58117415751189],[-0.24437077975348306,-0.506174158623176]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.45899918660156147,1.7517025666597106,0.71338606911949],"aabb_xy":[[0.42149918541676856,1.7472843439636496],[0.49649918778635416,1.7561207893557707]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.6748337647571017,-1.791959799051773,0.71338606911949],"aabb_xy":[[0.6380391316321954,-1.8288656741483555],[0.7116283978820079,-1.755053923955191]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.35691532964675843,1.3818402171936381,0.71338606911949],"aabb_xy":[[0.3194153294748864,1.349139481810731],[0.39441532981863026,1.4145409525765453]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[-0.2808348587663732,-2.3017398359215258,0.71338606911949],"aabb_xy":[[-0.3458348614041667,-2.3532194346209723],[-0.21583485612857972,-2.2502602372220784]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.5213548218957071,-0.12768624802527118,0.71338606911949],"aabb_xy":[[-0.529058012569784,-0.13539561872400915],[-0.51365163122163,-0.11997687732653314]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.05419249092959644,-2.4992516540021903,0.71338606911949],"aabb_xy":[[-0.11919248881124425,-2.550375317708731],[0.010807506952051358,-2.4481279902956494]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.5054343420289611,1.3919436551790976,0.71338606911949],"aabb_xy":[[0.4829379205950969,1.3694436553723504],[0.5279307634628251,1.4144436549858452]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[-0.16933412411864102,0.5877278432957667,0.71338606911949],"aabb_xy":[[-0.17811535126587727,0.5789480960072366],[-0.16055289697140482,0.5965075905842969]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.5505337198295466,-1.756422731301758,0.71338606911949],"aabb_xy":[[0.545196144163542,-1.7814227322308982],[0.5558712954955511,-1.7314227303726186]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.5651539148294286,-2.542898018399636,0.71338606911949],"aabb_xy":[[-0.6451539119890038,-2.554445619357453],[-0.4851539176698533,-2.531350417441819]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.17125119118271404,-2.01410121510522,0.71338606911949],"aabb_xy":[[0.15424109389266336,-2.030235703603494],[0.18826128847276466,-1.997966726606946]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.09792621106241106,-1.197882190985422,0.71338606911949],"aabb_xy":[[-0.15555667994968192,-1.2578821899121324],[-0.04029574217514021,-1.1378821920587112]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.6348708653732467,-0.8335757105614325,0.71338606911949],"aabb_xy":[[0.5848708650126805,-0.8835556977710355],[0.6848708657338126,-0.7835957233518296]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[-0.16868562585899272,1.422274807575548,0.71338606911949],"aabb_xy":[[-0.19196746805712406,1.33727480627832],[-0.14540378366086137,1.507274808872776]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[-0.020786354466317936,0.9588300943095112,0.71338606911949],"aabb_xy":[[-0.03899217812756561,0.9478046937275195],[-0.002580530805070258,0.9698554948915028]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.3513182682471149,-0.5401197042564467,0.71338606911949],"aabb_xy":[[-0.3568999398812436,-0.5526197040742222],[-0.34573659661298606,-0.5276197044386712]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_23","position":[-0.37437693520779053,1.0100376039948156,0.71338606911949],"aabb_xy":[[-0.39466123793118923,0.9897549788521066],[-0.3540926324843917,1.0303202291375242]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[-0.2915568758620827,1.7859343393623779,0.71338606911949],"aabb_xy":[[-0.3091035707782016,1.7484343377981266],[-0.27401018094596374,1.8234343409266291]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6722678338176901,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9700.png","name":"9700"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9700.png","name":"9700"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4043.png","name":"4043"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3105.png","name":"3105"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/739.png","name":"739"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9609.png","name":"9609"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":692.5906679660272,"rotation_z_degrees":179.35304505420638,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00508988384068625,0.0024448529659226136,0.0058494446406456395]},{"name":"camera_2","offset_m":[-0.017541153896939055,-0.000699250469262936,-0.0016847565505570573]},{"name":"camera_3","offset_m":[-0.01858956187876611,-0.004751611160680654,5.200090403167934e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010943861012235056,0.00023462309176573888,-0.0006750951244169391],"end_effector_yaw_offset_degrees":-0.4815310445755381},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014614745254014545,-0.0002641260042238792,-0.0013989716214352112],"end_effector_yaw_offset_degrees":-0.6985729043811921},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013359588670539065,-0.0019014475340474023,0.0006804278765252026],"end_effector_yaw_offset_degrees":-0.08215227638121325}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018652502910286488,0.00015152764727794504],"position_m":[0.21366525029102865,0.023951527647277947,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002350500101960652,0.0044146689198993954],"position_m":[0.27695050010196065,-0.3031853310801006,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003655284503545301,0.0016517954859847162],"position_m":[0.1599447154964547,0.2272517954859847,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003050055553639981,0.002480981026451309],"position_m":[0.35064994444636005,0.1706809810264513,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20e0b682034de75395f9eda475441285b13de3c164f31aef88cfe0d325c036cf","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9700/tex_ceiling_textures_9609/tex_floor_textures_739/tex_table_textures_4043/tex_wall_textures_3105","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1375277949752286099,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1375277949752286099,"visual_seed":1375277949752286099,"scene_id":"lab_003","finished_at":"2026-09-04T14:55:55"} +{"episode_id":"ep_000027","started_at":"2026-09-04T14:55:59","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[0.16445497653917074,1.0759897506703342,0.71338606911949],"aabb_xy":[[0.10045497942706505,1.0269573808759236],[0.22845497365127643,1.1250221204647448]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.5182971616170211,1.3992479376864249,0.71338606911949],"aabb_xy":[[0.4683183531067052,1.349247937680706],[0.568275970127337,1.4492479376921437]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[-0.13297236544280833,0.7002028220787468,0.71338606911949],"aabb_xy":[[-0.21297236260238359,0.6886552211209298],[-0.05297236828323301,0.7117504230365639]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[-0.31118698597150213,0.7597619397003794,0.71338606911949],"aabb_xy":[[-0.3281970832615528,0.7436274512021054],[-0.2941768886814515,0.7758964281986532]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[-0.4969809333734952,-1.5131438938644082,0.71338606911949],"aabb_xy":[[-0.5769809320303811,-1.527648752788671],[-0.41698093471660924,-1.4986390349401453]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.5941546954045163,0.052100743625088874,0.71338606911949],"aabb_xy":[[0.5441814014012557,0.002100743070541526],[0.6441279894077766,0.10210074417963622]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.2306876777305079,-1.779281345899891,0.71338606911949],"aabb_xy":[[0.22573165754562677,-1.8017813461020131],[0.23564369791538917,-1.75678134569777]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[0.0026492307975325424,-0.8111803762910981,0.71338606911949],"aabb_xy":[[-0.04723346608016367,-0.8611803755373728],[0.052531927675228754,-0.7611803770448233]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[0.5601463215988871,-1.0742022814707999,0.71338606911949],"aabb_xy":[[0.5351463216663693,-1.0810849496917232],[0.5851463215314051,-1.0673196132498766]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.611939808054115,-2.376012055199299,0.71338606911949],"aabb_xy":[[0.5219398115532431,-2.421923697617757],[0.7019398045549866,-2.3301004127808405]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[0.5105221356558791,-2.2252588732433782,0.71338606911949],"aabb_xy":[[0.49789534836868266,-2.2348049469449514],[0.5231489229430754,-2.215712799541805]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.28918492264368145,0.8498303842774311,0.71338606911949],"aabb_xy":[[-0.3241849225397003,0.8414561487654911],[-0.2541849227476626,0.858204619789371]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[-0.6012284859568474,1.1294885080821606,0.71338606911949],"aabb_xy":[[-0.6465071008379966,1.065488508733977],[-0.555949871075698,1.1934885074303443]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[-0.5996458159188711,-1.6777571043210502,0.71338606911949],"aabb_xy":[[-0.6174393228537876,-1.6955568499168479],[-0.5818523089839547,-1.6599573587252525]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[0.7065868926436589,1.7870559142189655,0.71338606911949],"aabb_xy":[[0.6978056654964228,1.7782761669304359],[0.7153681197908953,1.7958356615074964]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.33801020860695785,-2.08822664053276,0.71338606911949],"aabb_xy":[[-0.36051020861710614,-2.1023228601723636],[-0.31551020859680956,-2.074130420893157]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[-0.6753714050734678,-0.629217935605521,0.71338606911949],"aabb_xy":[[-0.6802706973800313,-0.6568948549080897],[-0.6704721127669043,-0.6015410163029522]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[0.08476540964230539,1.3550240705594843,0.71338606911949],"aabb_xy":[[0.024765407999383537,1.30302392126754],[0.14476541128522724,1.4070242198514284]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[-0.024363198122570928,-2.365693036192417,0.71338606911949],"aabb_xy":[[-0.11436319671704087,-2.3819436225058377],[0.06563680047189902,-2.349442449878996]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.42278755539239476,-0.4167066921390159,0.71338606911949],"aabb_xy":[[0.41467390071901766,-0.424812508593045],[0.43090121006577187,-0.4086008756849868]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.43389738123234695,-2.562149710899647,0.71338606911949],"aabb_xy":[[-0.5038973830410924,-2.5835034796638343],[-0.3638973794236015,-2.5407959421354596]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[0.5585047906632619,-1.2580950929364123,0.71338606911949],"aabb_xy":[[0.4945047903892835,-1.3081611931337003],[0.62250479093724,-1.2080289927391243]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[0.41248613463835904,-2.4703658569723292,0.71338606911949],"aabb_xy":[[0.35749065681769965,-2.525365858406236],[0.4674816124590184,-2.4153658555384223]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[-0.3099350516791635,-0.7617337358588097,0.71338606911949],"aabb_xy":[[-0.31785833191791185,-0.784233736096813],[-0.3020117714404152,-0.7392337356208063]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[-0.09105105526807755,1.4094031284845494,0.71338606911949],"aabb_xy":[[-0.14605105488982342,1.354419435697077],[-0.03605105564633174,1.4643868212720224]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[-0.08825122612839964,0.08985622732800191,0.71338606911949],"aabb_xy":[[-0.1051619585647414,0.07638402173538737],[-0.07134049369205785,0.10332843292061643]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[-0.1767485001540139,0.4378023103441042,0.71338606911949],"aabb_xy":[[-0.19139190570804684,0.42314359068731994],[-0.16210509459998088,0.4524610300008885]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[0.34895238896159575,1.756307049628402,0.71338606911949],"aabb_xy":[[0.32645596752773165,1.7338070498216545],[0.37144881039545985,1.7788070494351493]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[-0.5690635316839904,-2.121888726328417,0.71338606911949],"aabb_xy":[[-0.604063530813946,-2.1276339474040813],[-0.5340635325540347,-2.116143505252753]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_29","position":[-0.08472435437325865,-1.9992019989647094,0.71338606911949],"aabb_xy":[[-0.1222243541902922,-2.0038402102758512],[-0.04722435455622509,-1.9945637876535676]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6743637837738431,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9498.png","name":"9498"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9498.png","name":"9498"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6498.png","name":"6498"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1045.png","name":"1045"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6629.png","name":"6629"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2753.png","name":"2753"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":831.5267657135335,"rotation_z_degrees":125.97144704646233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005874988950388814,0.012231368765724334,0.01331317748387233]},{"name":"camera_2","offset_m":[0.002435641909152148,-0.00885265937268405,-0.0013991293139673337]},{"name":"camera_3","offset_m":[0.019898532446670763,-0.0021856354248584176,-0.016010223029668636]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018049251499234753,-0.0001370157172796481,-4.589986071461532e-05],"end_effector_yaw_offset_degrees":-0.20899937559676962},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009142131940272629,-0.0016244467945732302,0.001053686552373723],"end_effector_yaw_offset_degrees":0.9401143190304451},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004451503655409695,0.00036741047164726235,0.0018974686829254096],"end_effector_yaw_offset_degrees":-0.02185443621135552}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002777972785991577,0.0007571998861846908],"position_m":[0.20902202721400842,0.024557199886184693,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0040241084672871736,0.003079696067338691],"position_m":[0.2786241084672872,-0.3045203039326613,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003981919287038228,-0.0035484146422113108],"position_m":[0.16758191928703822,0.22205158535778868,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002405747288396547,0.00034876625546071717],"position_m":[0.35129425271160347,0.1685487662554607,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fcbbfcf225c396d67db0927c075678668bb6e8b040ad3b3365fd89ac5c57b3e9","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9498/tex_ceiling_textures_2753/tex_floor_textures_6629/tex_table_textures_6498/tex_wall_textures_1045","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6113538720021605412,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6113538720021605412,"visual_seed":6113538720021605412,"scene_id":"lab_003","finished_at":"2026-09-04T14:58:40"} +{"episode_id":"ep_000028","started_at":"2026-09-04T14:58:43","dimensions":{"distractor":{"count":27,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[-0.4638960464016445,-1.3740002679124763,0.71338606911949],"aabb_xy":[[-0.5538960449961146,-1.3902508542258973],[-0.3738960478071746,-1.3577496815990553]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.03430116665353822,0.6113370650525187,0.71338606911949],"aabb_xy":[[-0.05180116578790538,0.6014574380149308],[-0.016801167519171042,0.6212166920901064]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.3976921775084079,-0.929677522585127,0.71338606911949],"aabb_xy":[[0.3902797219670194,-0.9355287330067549],[0.4051046330497963,-0.923826312163499]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.38511200140768587,1.6553333033846935,0.71338606911949],"aabb_xy":[[0.3699491284307488,1.6401678460895752],[0.400274874384623,1.6704987606798127]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.48944458456881723,-0.9417267364885078,0.71338606911949],"aabb_xy":[[-0.5534445818711635,-0.9860931634563644],[-0.4254445872664707,-0.8973603095206509]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[0.24308278420261686,-2.510010607239418,0.71338606911949],"aabb_xy":[[0.19527661658884818,-2.5750106099464767],[0.2908889518163855,-2.4450106045323587]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[-0.01549502647885237,-1.6735665494290748,0.71338606911949],"aabb_xy":[[-0.06548985940679397,-1.7235665483243183],[0.03449980644908923,-1.6235665505338313]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.3745556920273212,-1.7833453549333855,0.71338606911949],"aabb_xy":[[0.33237127786649046,-1.8473453552105967],[0.41674010618815194,-1.7193453546561743]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[0.2525467554828956,-0.9392781983070349,0.71338606911949],"aabb_xy":[[0.17254675750211054,-0.9468797392688869],[0.3325467534636806,-0.931676657345183]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.3944735797523287,1.3088319996793611,0.71338606911949],"aabb_xy":[[-0.4584735804557981,1.2628136172064401],[-0.3304735790488594,1.3548503821522822]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.5918219273505205,-1.3167856897187722,0.71338606911949],"aabb_xy":[[0.5837785674245654,-1.4017856908141386],[0.5998652872764757,-1.2317856886234058]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[0.36086799487937204,-1.0802029690200832,0.71338606911949],"aabb_xy":[[0.3258679949028762,-1.0896675850676998],[0.3958679948558679,-1.0707383529724666]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[0.6053808779555436,0.5305121929640149,0.71338606911949],"aabb_xy":[[0.5902087086739103,0.5153433360358115],[0.620553047237177,0.5456810498922182]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.2378317612144849,-2.1058738985471632,0.71338606911949],"aabb_xy":[[0.20439158601846527,-2.1393175243780926],[0.27127193641050446,-2.072430272716233]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[0.5976113300008832,0.7949183027923343,0.71338606911949],"aabb_xy":[[0.5672132189017394,0.7645114007906646],[0.6280094411000265,0.8253252047940036]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.13626905072432471,-2.342978917033307,0.71338606911949],"aabb_xy":[[-0.19126904990091417,-2.3979685918082643],[-0.0812690515477352,-2.287989242258349]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.6587954484842404,1.546295985361264,0.71338606911949],"aabb_xy":[[-0.6837954480359789,1.5361535014961292],[-0.633795448932502,1.5564384692263986]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.33175291307825017,-1.9655074659019547,0.71338606911949],"aabb_xy":[[0.27675291345650427,-2.020491158689428],[0.38675291269999595,-1.9105237731144824]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[0.629433522359331,-2.0436282744309997,0.71338606911949],"aabb_xy":[[0.5718030534720601,-2.1036282733577094],[0.6870639912466018,-1.9836282755042882]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[-0.6014783774149384,1.3032342575460678,0.71338606911949],"aabb_xy":[[-0.6654783776754091,1.2582254581931396],[-0.5374783771544674,1.3482430568989956]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[0.059410466684409524,0.8458846118508943,0.71338606911949],"aabb_xy":[[-0.004589529742912372,0.7987149880287978],[0.12341046311173143,0.8930542356729907]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[-0.5142364203044084,0.8766397254719909,0.71338606911949],"aabb_xy":[[-0.6042364200275825,0.8535663729368109],[-0.4242364205812342,0.8997130780071706]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[-0.1393626610619868,-1.1647472789960744,0.71338606911949],"aabb_xy":[[-0.16064066920545905,-1.2297472813221475],[-0.11808465291851455,-1.0997472766700014]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[-0.33855895042026135,-1.964138419798216,0.71338606911949],"aabb_xy":[[-0.3838375653014106,-2.0281384191463996],[-0.2932803355391121,-1.900138420450032]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.3532917772561895,0.11082246747387536,0.71338606911949],"aabb_xy":[[-0.3627092518260521,0.10140629033615634],[-0.3438743026863266,0.12023864461159439]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_25","position":[-0.19112529261692401,-1.3970892245448034,0.71338606911949],"aabb_xy":[[-0.2086252918950109,-1.4144273246111494],[-0.17362529333883714,-1.3797511244784575]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[0.36678790758526403,-1.4702531146654965,0.71338606911949],"aabb_xy":[[0.3438721947002141,-1.49315741180192],[0.3897036204703139,-1.447348817529073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6727428763321631,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8454.png","name":"8454"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8454.png","name":"8454"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/435.png","name":"435"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3191.png","name":"3191"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/991.png","name":"991"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3607.png","name":"3607"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":846.0637174543392,"rotation_z_degrees":56.726700957252845,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016595693608994145,0.008706014655027822,0.01978519853966917]},{"name":"camera_2","offset_m":[0.01742129464465846,0.006426312850689352,-0.015721815984048808]},{"name":"camera_3","offset_m":[0.01676398058096751,-0.016481992780821183,0.00042788077082659207]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004554293782786348,0.0010033912510091629,0.0008098431727667733],"end_effector_yaw_offset_degrees":0.49145213195055826},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013750894125246055,0.0008915933434315484,-0.0010785431751761214],"end_effector_yaw_offset_degrees":0.9494119921576045},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001511885720408503,-0.0015689995344427019,-0.0006904900817481918],"end_effector_yaw_offset_degrees":0.41951364381726974}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002804440716974773,-9.677345480850821e-05],"position_m":[0.2089955592830252,0.023703226545191493,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002630485718986343,0.003915616238469226],"position_m":[0.27723048571898634,-0.3036843837615308,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014830158087696102,-0.0037564675193221386],"position_m":[0.16211698419123038,0.22184353248067787,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017917375983703323,0.00021209959308006714],"position_m":[0.3519082624016297,0.16841209959308007,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d16dd9a292d8415065405de18cca840ddbff7598979fabdecc91fe174c468820","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0028.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8454/tex_ceiling_textures_3607/tex_floor_textures_991/tex_table_textures_435/tex_wall_textures_3191","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7648712211543894147,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7648712211543894147,"visual_seed":7648712211543894147,"scene_id":"lab_003","finished_at":"2026-09-04T15:01:21"} +{"episode_id":"ep_000029","started_at":"2026-09-04T15:01:24","dimensions":{"distractor":{"count":20,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[0.025746682489059092,-1.2300164374985498,0.71338606911949],"aabb_xy":[[-0.05925331620301555,-1.2620023008934287],[0.11074668118113373,-1.198030574103671]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[0.10630716165922138,-1.7707337376047159,0.71338606911949],"aabb_xy":[[0.026307164255627954,-1.8507263088028985],[0.18630715906281478,-1.6907411664065328]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[0.5981468769669585,-0.5958108914673146,0.71338606911949],"aabb_xy":[[0.5481694601017049,-0.6458108929565631],[0.648124293832212,-0.545810889978066]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.6310507212826,-0.6961472618763267,0.71338606911949],"aabb_xy":[[0.6216332467127372,-0.7055634390140456],[0.6404681958524627,-0.6867310847386076]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[-0.6450039710955593,-1.5413556339692807,0.71338606911949],"aabb_xy":[[-0.649082129002609,-1.5454366142175437],[-0.6409258131885096,-1.5372746537210171]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[0.024842077844108412,-0.7486680336711053,0.71338606911949],"aabb_xy":[[-0.039157919441540234,-0.7901747526239493],[0.08884207512975706,-0.7071613147182614]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.30603674465713315,-1.5535278504658279,0.71338606911949],"aabb_xy":[[-0.3166042243152322,-1.5640728805788364],[-0.2954692649990342,-1.5429828203528193]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[-0.17317128194560238,-1.535907352965451,0.71338606911949],"aabb_xy":[[-0.2106712820511953,-1.542729514818432],[-0.1356712818400094,-1.5290851911124697]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[0.1482073507532028,-2.4460082093413993,0.71338606911949],"aabb_xy":[[0.1381256436746293,-2.5260082072335135],[0.15828905783177624,-2.366008211449284]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[0.6398541462890135,0.45824159276969434,0.71338606911949],"aabb_xy":[[0.6328138363554766,0.378241593370023],[0.6468944562225506,0.5382415921693657]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[0.17310562523574613,1.1273051319962546,0.71338606911949],"aabb_xy":[[0.16047883794854975,1.1177590582946815],[0.18573241252294245,1.1368512056978273]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.6672959891074463,-0.8549537604856137,0.71338606911949],"aabb_xy":[[-0.673797625615451,-0.8647215825119235],[-0.6607943525994417,-0.845185938459304]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[-0.29375727254621575,-1.2193297469090012,0.71338606911949],"aabb_xy":[[-0.33477521593258663,-1.2693297475399585],[-0.25273932915984487,-1.1693297462780439]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.44213906704124994,-0.8828749558822224,0.71338606911949],"aabb_xy":[[0.3524519907331345,-0.972874956136673],[0.5318261433493654,-0.7928749556277719]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.1546917900606677,-0.7849682729961269,0.71338606911949],"aabb_xy":[[0.13719185662668432,-0.8024682729163614],[0.17219172349465106,-0.7674682730758923]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.18294425816259663,-1.776835244450002,0.71338606911949],"aabb_xy":[[-0.21740660556073838,-1.8113291268478244],[-0.14848191076445477,-1.742341362052179]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.10770575034768026,-2.4488622073695225,0.71338606911949],"aabb_xy":[[-0.12030844948475673,-2.4614576035943885],[-0.09510305121060382,-2.4362668111446575]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.21538543473480665,1.008526282888743,0.71338606911949],"aabb_xy":[[-0.21981606408964685,1.0030779111540604],[-0.2109548053799665,1.0139746546234254]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.08217735936389847,1.5997987877699358,0.71338606911949],"aabb_xy":[[-0.11717735925991733,1.5914245522579957],[-0.04717735946787959,1.6081730232818758]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[-0.18354013638863143,1.114851784064224,0.71338606911949],"aabb_xy":[[-0.21854013774011313,1.0944920481074032],[-0.14854013503714966,1.1352115200210449]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6769349725605455,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2843.png","name":"2843"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2843.png","name":"2843"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1261.png","name":"1261"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9453.png","name":"9453"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7036.png","name":"7036"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/267.png","name":"267"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":637.0808155433252,"rotation_z_degrees":183.68401575425233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-3.644015074839163e-05,0.008112587796873311,-0.012717357052736161]},{"name":"camera_2","offset_m":[0.017567365435811094,0.009245166729472384,-0.01635586786155296]},{"name":"camera_3","offset_m":[-0.015494573866223087,0.016000462960706122,0.003307546764390233]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008856821263610831,0.0007023388690999832,0.0014433432938864665],"end_effector_yaw_offset_degrees":-0.788042035678171},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009289981443315934,-0.0003036965563054301,0.0008079202849552319],"end_effector_yaw_offset_degrees":-0.4790309854838155},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012971263362985535,-0.0005095218396255117,-0.0011733031237239578],"end_effector_yaw_offset_degrees":0.36410880172219384}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-9.743266873772031e-05,-0.0019366722412893066],"position_m":[0.21170256733126228,0.021863327758710693,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004481280519030508,-0.001684053681394614],"position_m":[0.27908128051903053,-0.3092840536813946,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003391570619821701,-0.0039102324481540265],"position_m":[0.1602084293801783,0.22168976755184597,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00023926728591004785,0.001916202882936856],"position_m":[0.35346073271408995,0.17011620288293686,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2a0379ce3feed4addda1db8a84b3586fba8c6cf1c4deaf351435375c38c649ad","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0029.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2843/tex_ceiling_textures_267/tex_floor_textures_7036/tex_table_textures_1261/tex_wall_textures_9453","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8709942776569492023,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8709942776569492023,"visual_seed":8709942776569492023,"scene_id":"lab_003","finished_at":"2026-09-04T15:04:01"} +{"episode_id":"ep_000030","started_at":"2026-09-04T15:04:05","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.41509562732501437,-1.919175854244656,0.71338606911949],"aabb_xy":[[0.40546399110458475,-1.9288131670243651],[0.424727263545444,-1.9095385414649473]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[-0.019902385451811222,-2.2497631211965423,0.71338606911949],"aabb_xy":[[-0.05236408633373867,-2.2798959533114442],[0.012559315430116234,-2.2196302890816386]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[0.5832708856482747,1.4642763838948345,0.71338606911949],"aabb_xy":[[0.5793104018785403,1.456608519309314],[0.587231369418009,1.471944248480355]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[0.43195077481680433,1.2569399145586746,0.71338606911949],"aabb_xy":[[0.3963216189168446,1.2213072478018216],[0.46757993071676407,1.2925725813155275]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.5503937253256366,0.35281645941504713,0.71338606911949],"aabb_xy":[[0.4863937289300635,0.2888531709963136],[0.6143937217212097,0.4167797478337807]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.47989713040787385,1.5099922655544034,0.71338606911949],"aabb_xy":[[0.4721939397337968,1.502282894855665],[0.4876003210819509,1.5177016362531413]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.5901737772772309,0.548879552878319,0.71338606911949],"aabb_xy":[[-0.6541737786852215,0.49709060135439437],[-0.5261737758692402,0.6006685044022437]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.10914763077577017,-1.5789898460218421,0.71338606911949],"aabb_xy":[[0.10318109183503438,-1.584950990681206],[0.11511416971650595,-1.5730287013624782]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[-0.39289529560213404,0.09135330034899702,0.71338606911949],"aabb_xy":[[-0.3982278102567471,0.08602897210376143],[-0.3875627809475211,0.09667762859423262]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[0.6607002057277707,1.5978752666314713,0.71338606911949],"aabb_xy":[[0.6107159700195933,1.5478752678179755],[0.7106844414359478,1.6478752654449667]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.34094484717495055,-0.9338765611081403,0.71338606911949],"aabb_xy":[[-0.4009448476828034,-0.9907232947940616],[-0.28094484666709757,-0.877029827422219]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.37364532477449364,-1.9107470196323604,0.71338606911949],"aabb_xy":[[-0.43764532699490066,-1.9551201037576487],[-0.3096453225540866,-1.866373935507072]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.2371868873391269,1.2872068308133606,0.71338606911949],"aabb_xy":[[-0.2655165972876672,1.2827460886196436],[-0.2088571773905867,1.2916675730070777]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.5733815318254718,-0.235038289676873,0.71338606911949],"aabb_xy":[[-0.6108815333411034,-0.24626506269301807],[-0.53588153030984,-0.22381151666072796]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.4177596334089168,-0.16799897820068965,0.71338606911949],"aabb_xy":[[-0.4590641764726528,-0.23199897776880674],[-0.3764550903451808,-0.10399897863257257]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.04857006710568568,1.4895674671318377,0.71338606911949],"aabb_xy":[[0.026070067095537386,1.4754712474922342],[0.07107006711583397,1.5036636867714408]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[-0.33573042255995883,0.8270790539427164,0.71338606911949],"aabb_xy":[[-0.3607304224924767,0.8201963857217932],[-0.31073042262744094,0.8339617221636398]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[0.5708027123779094,-2.0557285856869774,0.71338606911949],"aabb_xy":[[0.548302712564007,-2.0602032020574583],[0.5933027121918117,-2.0512539693164973]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.30614824523119943,0.9557806746072068,0.71338606911949],"aabb_xy":[[0.23614824309976984,0.9330187089815111],[0.3761482473626289,0.9785426402329024]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.4728877801343194,-1.6765504087534873,0.71338606911949],"aabb_xy":[[0.40888777986034114,-1.7266165089507752],[0.5368877804082977,-1.6264843085561993]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.5697293715838629,-2.3764085479052195,0.71338606911949],"aabb_xy":[[-0.5947293708558251,-2.3927539115013814],[-0.5447293723119006,-2.3600631843090567]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[0.37898868023989385,0.4432830118344522,0.71338606911949],"aabb_xy":[[0.35447505614288793,0.4190184185324157],[0.40350230433689965,0.46754760513648863]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[-0.36924532770099544,-1.5903241176781562,0.71338606911949],"aabb_xy":[[-0.4067453278065884,-1.597146279531137],[-0.3317453275954025,-1.5835019558251748]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_23","position":[-0.4419313366031877,-2.305894514321864,0.71338606911949],"aabb_xy":[[-0.47943133677505956,-2.3385952497047713],[-0.4044313364313157,-2.273193778938957]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.6546336216027502,0.8608083599319656,0.71338606911949],"aabb_xy":[[0.6046548130924343,0.8108083599262468],[0.7046124301130661,0.9108083599376844]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[0.3698990435798859,-1.0381112605858724,0.71338606911949],"aabb_xy":[[0.33239904239509305,-1.0425294832819327],[0.40739904476467864,-1.0336930378898117]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.2523971479159962,1.491495763035657,0.71338606911949],"aabb_xy":[[0.17239714932867675,1.412180161097496],[0.3323971465033156,1.5708113649738178]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668332525673186,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4866.png","name":"4866"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4866.png","name":"4866"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3120.png","name":"3120"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7380.png","name":"7380"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2684.png","name":"2684"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9067.png","name":"9067"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":803.5897632399551,"rotation_z_degrees":79.32360512850846,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0030301272394347434,0.010241524321055132,0.013848500384559443]},{"name":"camera_2","offset_m":[-0.006626225120670414,0.01481166992558795,-0.01948169017522657]},{"name":"camera_3","offset_m":[0.0183997008899484,0.018958219678901014,0.006686385687440816]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006850208327737932,0.0007712928929391161,0.0009506510537404976],"end_effector_yaw_offset_degrees":-0.8157215177735595},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018567021955776673,0.001715532079732044,0.00017923985523725502],"end_effector_yaw_offset_degrees":-0.5162071995069086},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000890002440018813,0.0013667000695646672,0.0018154485377080477],"end_effector_yaw_offset_degrees":0.7166399446501546}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00015423846289915142,-0.0017727222230398266],"position_m":[0.21164576153710082,0.022027277776960175,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004059717744669586,0.0005218812785302484],"position_m":[0.27054028225533044,-0.30707811872146973,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004653408147326917,-0.0033278972904954153],"position_m":[0.15894659185267307,0.2222721027095046,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004465969101810807,-0.0012340240012588123],"position_m":[0.3492340308981892,0.1669659759987412,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"392cf04b3ca56e50658207fbc7961d6addb786bdd5477bed3ae91cbf58bbd6bd","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4866/tex_ceiling_textures_9067/tex_floor_textures_2684/tex_table_textures_3120/tex_wall_textures_7380","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5198745540591170042,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5198745540591170042,"visual_seed":5198745540591170042,"scene_id":"lab_003","finished_at":"2026-09-04T15:06:44"} +{"episode_id":"ep_000031","started_at":"2026-09-04T15:06:48","dimensions":{"distractor":{"count":25,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[0.6735998693197174,-0.5454810099992295,0.71338606911949],"aabb_xy":[[0.6350541764945163,-0.584026781055418],[0.7121455621449184,-0.5069352389430408]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.14319997080671143,1.2121687397108354,0.71338606911949],"aabb_xy":[[0.06319997214982542,1.1976638807865725],[0.22319996946359744,1.2266735986350983]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.09344375591998877,-1.6254713254552844,0.71338606911949],"aabb_xy":[[0.07094375639628135,-1.647967272905905],[0.11594375544369616,-1.6029753780046634]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[-0.5470022846508227,-2.337556938960785,0.71338606911949],"aabb_xy":[[-0.5708385022914277,-2.4275569397692713],[-0.5231660670102176,-2.2475569381522984]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[0.5633801182087235,-1.0319338589071065,0.71338606911949],"aabb_xy":[[0.5536241286995497,-1.041696392966341],[0.5731361077178975,-1.022171324847872]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[-0.20787753731406516,0.5704582461424548,0.71338606911949],"aabb_xy":[[-0.23242375293681589,0.5402093495934177],[-0.18333132169131444,0.6007071426914918]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[-0.5709271787161398,0.397607230822985,0.71338606911949],"aabb_xy":[[-0.5790548669094531,0.3886936224122774],[-0.5627994905228266,0.4065208392336927]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[-0.2028465901390052,-0.3727659362687539,0.71338606911949],"aabb_xy":[[-0.2678465910961324,-0.42471414820245945],[-0.13784658918187798,-0.3208177243350483]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[0.5566650101826704,1.1493815646100622,0.71338606911949],"aabb_xy":[[0.49666500967481747,1.0925348309241407],[0.6166650106905233,1.2062282982959833]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.3636514994404684,1.671962202292128,0.71338606911949],"aabb_xy":[[-0.3755842338022964,1.6595800494842687],[-0.35171876507864025,1.6843443550999875]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[-0.6097188462124762,-1.3043596718302466,0.71338606911949],"aabb_xy":[[-0.6934410717125586,-1.3943596753649423],[-0.5259966207123937,-1.2143596682955504]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[0.2721292257832435,1.4502495512529863,0.71338606911949],"aabb_xy":[[0.22712922431701466,1.4052496943915058],[0.31712922724947235,1.4952494081144672]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.6082343937129165,1.079830348439613,0.71338606911949],"aabb_xy":[[-0.6228777992669494,1.0651716287828288],[-0.5935909881588834,1.0944890680963972]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[-0.41198367189455243,1.3761900485082856,0.71338606911949],"aabb_xy":[[-0.44948367268654793,1.3698222075500954],[-0.37448367110255704,1.3825578894664758]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.6690740578779235,-0.20059417870210616,0.71338606911949],"aabb_xy":[[0.6610377231766387,-0.20863229800652294],[0.6771103925792084,-0.19255605939768938]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.5235510321700391,-1.0383533173347677,0.71338606911949],"aabb_xy":[[-0.5336327392486124,-1.118353315226882],[-0.5134693250914655,-0.9583533194426528]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[-0.06778349631431102,0.14218159918784634,0.71338606911949],"aabb_xy":[[-0.10528349648618295,0.10948086380493913],[-0.030283496142439068,0.1748823345707535]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.29241384728095754,-2.199340180817773,0.71338606911949],"aabb_xy":[[0.2284138499953089,-2.240846899770617],[0.3564138445666062,-2.157833461864929]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[-0.11872146774741865,-2.3254639980372733,0.71338606911949],"aabb_xy":[[-0.12481609563553696,-2.334033392588942],[-0.11262683985930032,-2.3168946034856046]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.2547718394508587,-0.8190935515420095,0.71338606911949],"aabb_xy":[[-0.3047449049833742,-0.8690935513545426],[-0.20479877391834328,-0.7690935517294768]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[-0.5637527487578915,-2.029868738888014,0.71338606911949],"aabb_xy":[[-0.594150859857035,-2.0602756408896834],[-0.5333546376587478,-1.9994618368863446]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.19672146341451763,1.2575664295554594,0.71338606911949],"aabb_xy":[[-0.23802600647825362,1.1935664299873423],[-0.15541692035078164,1.3215664291235765]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[-0.54312916050031,-0.7989920340123973,0.71338606911949],"aabb_xy":[[-0.5644071686437823,-0.8639920363384702],[-0.5218511523568378,-0.7339920316863241]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[-0.15547708347304734,0.349754460126682,0.71338606911949],"aabb_xy":[[-0.16477070171019792,0.31225446163854803],[-0.14618346523589676,0.38725445861481583]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[-0.47666921039126986,0.9604805019939997,0.71338606911949],"aabb_xy":[[-0.4860162179735651,0.9461768797763557],[-0.46732220280897463,0.9747841242116437]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6771657705594015,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8522.png","name":"8522"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8522.png","name":"8522"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4060.png","name":"4060"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9978.png","name":"9978"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/700.png","name":"700"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1385.png","name":"1385"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":772.7672936744923,"rotation_z_degrees":275.9523601480565,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012346770594966232,0.018151006503050997,-0.006742942358130591]},{"name":"camera_2","offset_m":[0.009524897386447125,-0.018876407479092677,0.005751379774617718]},{"name":"camera_3","offset_m":[-0.01742375523945634,0.012750362713894906,-0.01827134279059464]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018738855163717898,-0.0008630811535632584,-0.0016287302451167595],"end_effector_yaw_offset_degrees":0.8970376989624598},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012078506813004023,-0.0012660591882278469,-8.972646647816928e-05],"end_effector_yaw_offset_degrees":0.8256910254499237},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013271845874234184,-4.71631744992406e-05,0.0007588624066057277],"end_effector_yaw_offset_degrees":0.29677414997712726}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022842138445530015,0.004312716141995265],"position_m":[0.21408421384455298,0.028112716141995266,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004071280071735459,-0.0029844832378363383],"position_m":[0.27867128007173547,-0.31058448323783633,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0030504015063759224,-0.0009003569411668742],"position_m":[0.16054959849362407,0.2246996430588331,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000557293436525789,0.002795505781361546],"position_m":[0.3542572934365258,0.17099550578136152,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d056c3a563f46e76320d2939820f82c502c24d0e997f1302d5613995e4b16b0","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8522/tex_ceiling_textures_1385/tex_floor_textures_700/tex_table_textures_4060/tex_wall_textures_9978","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":931030736407764072,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":931030736407764072,"visual_seed":931030736407764072,"scene_id":"lab_003","finished_at":"2026-09-04T15:09:32"} +{"episode_id":"ep_000032","started_at":"2026-09-04T15:09:35","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.45762614807786145,-0.016916969746711086,0.71338606911949],"aabb_xy":[[-0.507620981005803,-0.06691696864195462],[-0.40763131514991985,0.03308302914853245]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[-0.5507147110975481,0.09932375767735335,0.71338606911949],"aabb_xy":[[-0.5757147102631812,0.09237151197199676],[-0.525714711931915,0.10627600338270991]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.06102051000725328,0.8949858321793327,0.71338606911949],"aabb_xy":[[-0.002979489286914938,0.8309996918104786],[0.1250205093014215,0.958971972548187]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.018189925228417447,0.7060978228076444,0.71338606911949],"aabb_xy":[[-0.046810075877525836,0.681132449739516],[0.08318992633436073,0.7310631958757726]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.6424060975573498,-1.5833145431649276,0.71338606911949],"aabb_xy":[[0.5808153383333571,-1.6473145412739747],[0.7039968567813427,-1.519314545055881]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.05327040558335361,-2.180055029461947,0.71338606911949],"aabb_xy":[[-0.10826361692049039,-2.2350550298007406],[0.0017228057537831483,-2.1250550291231534]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.03199117258163808,-2.053423184224591,0.71338606911949],"aabb_xy":[[-0.06195872949146375,-2.083423184522477],[-0.0020236156718124176,-2.023423183926705]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.30975229814633765,-0.9645244815991298,0.71338606911949],"aabb_xy":[[-0.35474488486478806,-1.0095244808735786],[-0.26475971142788723,-0.9195244823246811]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[0.7129035597396243,-0.368513894593252,0.71338606911949],"aabb_xy":[[0.706591460203286,-0.3742808338464709],[0.7192156592759628,-0.36274695534003326]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.3990450387587326,-1.8934769953029593,0.71338606911949],"aabb_xy":[[-0.41647575383773905,-1.9107491099668095],[-0.38161432367972603,-1.8762048806391078]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.4943494199445772,-2.3192918212874627,0.71338606911949],"aabb_xy":[[-0.5068167780543129,-2.331757145920786],[-0.4818820618348416,-2.306826496654139]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.36426821774177065,-0.2928439838727237,0.71338606911949],"aabb_xy":[[-0.45426821716014154,-0.3262194807169134],[-0.27426821832339976,-0.259468487028534]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.5921002150550401,-1.0188574588384516,0.71338606911949],"aabb_xy":[[-0.6821002136495101,-1.0351080451518728],[-0.5021002164605702,-1.0026068725250308]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.3369221733806209,-0.6115389138988929,0.71338606911949],"aabb_xy":[[0.27192217522470186,-0.6378351584488051],[0.40192217153654,-0.5852426693489807]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[-0.6293152214406705,-1.8120312076589986,0.71338606911949],"aabb_xy":[[-0.6933152206104404,-1.858797894777961],[-0.5653152222709005,-1.7652645205400361]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.09209566552591053,-0.6311589950765661,0.71338606911949],"aabb_xy":[[-0.16209566193587227,-0.6515969307282478],[-0.022095669115948718,-0.6107210594248843]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[0.32103224328575797,1.5170931384653206,0.71338606911949],"aabb_xy":[[0.30497031582724027,1.4320931366527285],[0.33709417074427556,1.6020931402779122]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[-0.22141237576189043,0.840627473378655,0.71338606911949],"aabb_xy":[[-0.2570415316618502,0.804994806621802],[-0.1857832198619307,0.8762601401355079]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.3911426138007843,-2.1937881560025816,0.71338606911949],"aabb_xy":[[0.3692528662118435,-2.2837881532918307],[0.4130323613897251,-2.1037881587133325]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.4301277251331581,0.22565981131102975,0.71338606911949],"aabb_xy":[[0.40561410103615225,0.20139521800899327],[0.45464134923016397,0.24992440461306617]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.669494932142611,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5619.png","name":"5619"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5619.png","name":"5619"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1046.png","name":"1046"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/308.png","name":"308"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7470.png","name":"7470"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3048.png","name":"3048"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":716.7409082706239,"rotation_z_degrees":351.85589465677316,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011549321172886883,0.005800572059484518,0.011979347112317112]},{"name":"camera_2","offset_m":[-0.010611442320049989,0.019161962215927097,-0.018447375171342185]},{"name":"camera_3","offset_m":[-0.010183811773846809,0.016744668652620514,0.008302608389418015]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013731898799827311,-0.0010901376936751322,3.192324900470108e-05],"end_effector_yaw_offset_degrees":0.5671088870536531},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016574963578969214,-0.0018013170774451143,-0.0007842738388311474],"end_effector_yaw_offset_degrees":0.7417986514023573},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007455506152223334,-0.0013102552384031442,-0.0016907375911032721],"end_effector_yaw_offset_degrees":-0.8360023998956936}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011551887157507036,-0.00013708703291191466],"position_m":[0.21064481128424928,0.023662912967088088,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003593348902432113,-0.0011039842035188451],"position_m":[0.2710066510975679,-0.30870398420351886,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029395247746199205,0.00010240356464252375],"position_m":[0.16066047522538007,0.22570240356464252,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034467364759839126,0.0007657925332260774],"position_m":[0.3502532635240161,0.16896579253322608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"931a4eb46eb89d396f828d51a89f19dcb2d04e070d2404993719cea919bf1bbe","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5619/tex_ceiling_textures_3048/tex_floor_textures_7470/tex_table_textures_1046/tex_wall_textures_308","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":9161504794390243991,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":9161504794390243991,"visual_seed":9161504794390243991,"scene_id":"lab_003","finished_at":"2026-09-04T15:12:13"} +{"episode_id":"ep_000033","started_at":"2026-09-04T15:12:19","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.4829564452634689,0.19690351611587298,0.71338606911949],"aabb_xy":[[0.4769194322628043,0.19087681504692483],[0.48899345826413376,0.20293021718482124]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[0.22878387049935123,-1.2649766035607748,0.71338606911949],"aabb_xy":[[0.19378387218865575,-1.2726916184843204],[0.2637838688100467,-1.2572615886372291]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.08271227707670392,-2.5129327429212673,0.71338606911949],"aabb_xy":[[0.018716579681607337,-2.576932741221976],[0.1467079744718005,-2.4489327446205587]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[0.2776650012408235,-0.7990946016100764,0.71338606911949],"aabb_xy":[[0.2557752536518827,-0.8890945988993254],[0.2995547488297643,-0.7090946043208272]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.3852988438902134,0.8836528302658766,0.71338606911949],"aabb_xy":[[-0.4227988437072469,0.8790146189547348],[-0.3477988440731798,0.8882910415770184]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.5804068447161758,-0.14939245176745075,0.71338606911949],"aabb_xy":[[-0.6216556557460905,-0.20439245127966818],[-0.539158033686261,-0.09439245225523328]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[0.07016121587856827,-1.795072291220775,0.71338606911949],"aabb_xy":[[0.055517810324535274,-1.809731010877559],[0.08480462143260124,-1.7804135715639906]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[0.5788825795333441,0.9657354617654095,0.71338606911949],"aabb_xy":[[0.5239088574970111,0.9107354622011763],[0.6338563015696769,1.0207354613296427]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[-0.4444163526251676,-1.6686127355422329,0.71338606911949],"aabb_xy":[[-0.4743839095349933,-1.6986127358401186],[-0.414448795715342,-1.6386127352443471]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[0.409139648959729,-2.0789003530239016,0.71338606911949],"aabb_xy":[[0.3912705412052735,-2.0927332610011127],[0.4270087567141845,-2.0650674450466906]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[-0.5503686921250031,1.1051413139876107,0.71338606911949],"aabb_xy":[[-0.5808529422520333,1.0551413142061148],[-0.519884441997973,1.1551413137691067]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[0.4160723575584633,-1.7079784457706346,0.71338606911949],"aabb_xy":[[0.4079587028850862,-1.7160842622246635],[0.4241860122318404,-1.6998726293166053]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.4640252348750259,-1.2387723226856624,0.71338606911949],"aabb_xy":[[-0.5191504405046166,-1.2987723241269495],[-0.40890002924543506,-1.1787723212443753]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[-0.5169548677165121,1.604488873813581,0.71338606911949],"aabb_xy":[[-0.5809548693945095,1.5559714823342667],[-0.45295486603851476,1.6530062652928952]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[-0.613278456821798,0.9556699861143692,0.71338606911949],"aabb_xy":[[-0.6467186320178174,0.922226360283439],[-0.5798382816257782,0.9891136119452991]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[-0.4954024770621146,0.11067774233892003,0.71338606911949],"aabb_xy":[[-0.5136083007233623,0.0996523417569284],[-0.4771966534008669,0.12170314292091168]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[0.4047478994177185,-1.5757472841702602,0.71338606911949],"aabb_xy":[[0.3569417318039498,-1.640747286877319],[0.45255406703148704,-1.510747281463201]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[0.4583168914495752,1.4025344024756232,0.71338606911949],"aabb_xy":[[0.44140615901323343,1.3890621968830084],[0.475227623885917,1.4160066080682376]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[-0.0808334875423069,0.9786121749774281,0.71338606911949],"aabb_xy":[[-0.1348490838242069,0.9146121720851709],[-0.026817891260406887,1.0426121778696853]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[0.297181889142369,-1.8893060599922729,0.71338606911949],"aabb_xy":[[0.286341410915854,-1.9064923412829216],[0.30802236736888383,-1.8721197787016242]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[-0.1100125062458589,-2.2565959190708975,0.71338606911949],"aabb_xy":[[-0.12764534183938644,-2.2742188650865205],[-0.09237967065233131,-2.2389729730552745]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[0.11183783107657264,1.4141632021807475,0.71338606911949],"aabb_xy":[[0.08992914893722158,1.3922625353606566],[0.13374651321592368,1.436063869000838]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[-0.5706543657989045,-0.6207391541977405,0.71338606911949],"aabb_xy":[[-0.587664463088955,-0.6368736426960144],[-0.5536442685088537,-0.6046046656994666]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[-0.5897123030516562,-1.575945258567257,0.71338606911949],"aabb_xy":[[-0.6396897199169097,-1.6259452600565056],[-0.5397348861864025,-1.5259452570780085]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[0.14782374276179766,-1.8809223563650432,0.71338606911949],"aabb_xy":[[0.11032374124616595,-1.8921491293811883],[0.18532374427742937,-1.8696955833488982]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[0.13662648891196694,0.7546950648865263,0.71338606911949],"aabb_xy":[[0.11919577383296041,0.7374229502226752],[0.15405720399097342,0.7719671795503769]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_26","position":[0.022439897171781076,-1.3023992231757473,0.71338606911949],"aabb_xy":[[0.016127797635442642,-1.3081661624289664],[0.02875199670811951,-1.2966322839225286]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_27","position":[-0.29600858381981165,0.19511667729710824,0.71338606911949],"aabb_xy":[[-0.30915982979110107,0.1701166775404217],[-0.28285733784852235,0.2201166770537948]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[-0.22200938049883429,-1.0623702081641504,0.71338606911949],"aabb_xy":[[-0.2332544360694521,-1.0736120058882457],[-0.21076432492821642,-1.0511284104400551]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_29","position":[0.682464720414178,0.7463337711344007,0.71338606911949],"aabb_xy":[[0.6635803366456678,0.7274478463540479],[0.7013491041826883,0.7652196959147535]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_30","position":[0.6396202565329332,-2.4124790684119923,0.71338606911949],"aabb_xy":[[0.6221203230989498,-2.429979068332227],[0.6571201899669166,-2.394979068491758]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_31","position":[0.2717475132599847,-1.014804102028521,0.71338606911949],"aabb_xy":[[0.23320182043478366,-1.0533498730847097],[0.31029320608518574,-0.9762583309723324]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6708354022726969,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8289.png","name":"8289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8289.png","name":"8289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2428.png","name":"2428"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7094.png","name":"7094"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2454.png","name":"2454"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/232.png","name":"232"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":643.6875751073287,"rotation_z_degrees":319.9454950836386,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012987680246698819,-0.01803230470629867,-0.00837433644223212]},{"name":"camera_2","offset_m":[0.016774415034152935,0.0019928391944479956,0.006347085071329649]},{"name":"camera_3","offset_m":[-0.00985600366036143,-0.004723356293036033,-0.013201111361645021]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011728540900345472,0.0002220330277976335,0.0014049893765723511],"end_effector_yaw_offset_degrees":-0.2358600893750138},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00019573121209095004,-0.001772250184279424,0.00041300123082177887],"end_effector_yaw_offset_degrees":-0.5226307118625233},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006914827261612663,-0.0013316386582113795,-0.00027590035200978085],"end_effector_yaw_offset_degrees":0.06342638435700265}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021194946851887998,-0.003050647315380306],"position_m":[0.2096805053148112,0.020749352684619696,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00013896358846206356,0.0026759965679815237],"position_m":[0.27446103641153796,-0.3049240034320185,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0034088446774623972,-0.004524930599259867],"position_m":[0.1601911553225376,0.22107506940074012,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00045789492862754154,0.0016325583896594775],"position_m":[0.3532421050713725,0.16983255838965947,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8fc9c06319b325a6601749fa69976d6a41e5e5e51d7f32168400b790c714e18c","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8289/tex_ceiling_textures_232/tex_floor_textures_2454/tex_table_textures_2428/tex_wall_textures_7094","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7806144298983844197,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7806144298983844197,"visual_seed":7806144298983844197,"scene_id":"lab_003","finished_at":"2026-09-04T15:14:58"} +{"episode_id":"ep_000034","started_at":"2026-09-04T15:15:01","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.27850534199431265,-2.3861539901339226,0.71338606911949],"aabb_xy":[[-0.33850534224571377,-2.4404353151703875],[-0.21850534174291142,-2.3318726650974577]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.6298174395130983,-1.8908448090100924,0.71338606911949],"aabb_xy":[[-0.6430483850477795,-1.9040722280320916],[-0.6165864939784169,-1.8776173899880928]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.4603407201727834,0.14212916542662102,0.71338606911949],"aabb_xy":[[0.4510471019356328,0.10462916693848712],[0.46963433840993396,0.17962916391475492]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[-0.04896726808141538,-0.309747009378909,0.71338606911949],"aabb_xy":[[-0.06651396299753431,-0.3472470109431603],[-0.03142057316529645,-0.27224700781465777]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.40907669396560764,1.6024310666647756,0.71338606911949],"aabb_xy":[[0.3715766933010289,1.5867440086645535],[0.4465766946301863,1.6181181246649978]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.16812984152318466,-0.7424278324861575,0.71338606911949],"aabb_xy":[[0.11815654751992419,-0.7924278330407047],[0.21810313552644509,-0.6924278319316101]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.18198927550979116,-1.6416998063399308,0.71338606911949],"aabb_xy":[[0.1409713321234203,-1.6916998069708882],[0.22300721889616207,-1.5916998057089735]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.026386797901792325,-0.6594753967358447,0.71338606911949],"aabb_xy":[[-0.07138679936802118,-0.7044752535973253],[0.018613203564436527,-0.614475539874364]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[-0.6217044440549993,-1.3929239942233689,0.71338606911949],"aabb_xy":[[-0.6304184131049335,-1.4154239948825567],[-0.6129904750050645,-1.3704239935641802]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[0.2478989720041841,-0.5500629259163952,0.71338606911949],"aabb_xy":[[0.17789896987275453,-0.5728248915420906],[0.31789897413561363,-0.5273009602906993]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.19521400785971876,-1.0320132032357365,0.71338606911949],"aabb_xy":[[-0.22518156476954443,-1.0620132035336223],[-0.1652464509498931,-1.0020132029378508]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.11327596277495156,0.7398433197944971,0.71338606911949],"aabb_xy":[[-0.20327596645186968,0.6784109132173926],[-0.02327595909803337,0.8012757263716012]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.4995635909946569,-2.297264149987373,0.71338606911949],"aabb_xy":[[-0.5363582241195632,-2.334170025083955],[-0.46276895786975064,-2.2603582748907907]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[-0.05153673154504501,-1.114026573817208,0.71338606911949],"aabb_xy":[[-0.10666193717463578,-1.1740265752584949],[0.003588474084545767,-1.0540265723759206]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[0.4497660358105948,1.0769535074182492,0.71338606911949],"aabb_xy":[[0.41226603551842,1.0729120320176455],[0.48726603610276964,1.0809949828188525]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.2808611765157831,-0.3657255093373317,0.71338606911949],"aabb_xy":[[-0.28890453644173825,-0.4507255104326981],[-0.2728178165898279,-0.28072550824196524]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.3051689675726888,-1.835049004668929,0.71338606911949],"aabb_xy":[[-0.31397102288166145,-1.842860330823858],[-0.29636691226371603,-1.8272376785139999]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.5615182592731822,0.12643624939260478,0.71338606911949],"aabb_xy":[[0.5137120916594136,0.0614362466855458],[0.6093244268869509,0.1914362520996637]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.5956774202863492,-0.36846250028320604,0.71338606911949],"aabb_xy":[[-0.6756774173005972,-0.3885970519566173],[-0.5156774232721012,-0.34832794860979477]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[-0.6739626575574278,1.3147541365491913,0.71338606911949],"aabb_xy":[[-0.6802747570937662,1.3089871972959726],[-0.6676505580210894,1.3205210758024104]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.13417153205900845,-1.778660456386043,0.71338606911949],"aabb_xy":[[0.09667153224197489,-1.7832986676971845],[0.171671531876042,-1.7740222450749008]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[0.6458586991834572,1.4397174772776604,0.71338606911949],"aabb_xy":[[0.5958586988228911,1.3897374900680572],[0.6958586995440232,1.4896974644872631]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[-0.014352736396284538,1.1953235508886992,0.71338606911949],"aabb_xy":[[-0.098074961896367,1.1053235473540033],[0.06936948910379792,1.2853235544233952]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6688617659991218,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7904.png","name":"7904"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7904.png","name":"7904"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/826.png","name":"826"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5261.png","name":"5261"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1165.png","name":"1165"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9464.png","name":"9464"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":505.89226158476765,"rotation_z_degrees":343.0483790664286,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019561353160856446,0.006867263628039556,0.013512807207911186]},{"name":"camera_2","offset_m":[-0.011592054739899159,0.0015997926932205253,-0.017706191381793853]},{"name":"camera_3","offset_m":[0.007195844529630777,-0.016287382134053417,0.0015438693043046785]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005915924082950678,0.0002416857907563963,0.0014197067415012928],"end_effector_yaw_offset_degrees":-0.16111243434573574},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005394958384998057,-0.0010217296686197185,-0.0019337827674017817],"end_effector_yaw_offset_degrees":-0.6648883132090551},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00023195211758772656,-0.0003926491735097928,0.00034938216189397703],"end_effector_yaw_offset_degrees":-0.9127250658590709}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003155686487279422,-0.0030197068198104028],"position_m":[0.20864431351272056,0.020780293180189598,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038106273328590346,-0.00014806761788306068],"position_m":[0.270789372667141,-0.30774806761788304,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007950021603426735,-0.0047876730477315515],"position_m":[0.16439500216034267,0.22081232695226843,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002260167817637746,-0.003917038904080914],"position_m":[0.35143983218236224,0.16428296109591908,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"629703d8105791848b65a944bf354fed841c0c50441bdd56e201e71a2b5719d7","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7904/tex_ceiling_textures_9464/tex_floor_textures_1165/tex_table_textures_826/tex_wall_textures_5261","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":265493593890575779,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":265493593890575779,"visual_seed":265493593890575779,"scene_id":"lab_003","finished_at":"2026-09-04T15:17:41"} +{"episode_id":"ep_000035","started_at":"2026-09-04T15:17:44","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_0","position":[0.2679633326109727,-0.48003030603483765,0.71338606911949],"aabb_xy":[[0.25286103114995456,-0.4951318276658993],[0.28306563407199076,-0.46492878440377566]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.43606743487857375,0.7384789437063204,0.71338606911949],"aabb_xy":[[-0.4593492770767051,0.6534789424090923],[-0.4127855926804424,0.8234789450035485]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.20065508643488456,-0.1315489565588681,0.71338606911949],"aabb_xy":[[-0.2504718658997193,-0.18154895504317148],[-0.1508383069700498,-0.08154895807456475]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[0.653756750927146,-0.8947771542340508,0.71338606911949],"aabb_xy":[[0.648913156165916,-0.8996288067130351],[0.658600345688376,-0.8899255017550669]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[0.6479113990307384,-1.7697926896270748,0.71338606911949],"aabb_xy":[[0.6029188123122879,-1.8147926889015236],[0.6929039857491888,-1.724792690352626]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[0.4820565697141719,-2.509103042780433,0.71338606911949],"aabb_xy":[[0.4534072373537556,-2.537748602057508],[0.5107059020745881,-2.4804574835033564]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.4973171201170792,-0.2622215697604755,0.71338606911949],"aabb_xy":[[-0.5116515452432426,-0.27428178531501435],[-0.4829826949909158,-0.25016135420593666]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.651734503782092,-0.1728343256370648,0.71338606911949],"aabb_xy":[[-0.6614904932912657,-0.1825968596962992],[-0.641978514272918,-0.16307179157783033]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.16766864453760133,-0.3189014029073185,0.71338606911949],"aabb_xy":[[-0.20266864366755696,-0.3246466239829826],[-0.13266864540764564,-0.3131561818316544]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[0.10010210404971365,-2.0918226912520588,0.71338606911949],"aabb_xy":[[0.09047046782928403,-2.1014600040317677],[0.10973374027014327,-2.08218537847235]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[0.11706714940684582,-0.9565522429117785,0.71338606911949],"aabb_xy":[[0.10118265614152067,-0.9709051832106026],[0.13295164267217097,-0.9421993026129545]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.4422407859491462,1.1164612556159912,0.71338606911949],"aabb_xy":[[-0.4647407864611868,1.0939693972505926],[-0.4197407854371056,1.1389531139813893]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[0.5889191075979363,0.17517728680205558,0.71338606911949],"aabb_xy":[[0.5670293600089955,0.08517728951280647],[0.6108088551868771,0.2651772840913047]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[-0.043247552132872014,-2.232202599294604,0.71338606911949],"aabb_xy":[[-0.10824755001451983,-2.2833262630011455],[0.021752445748775776,-2.1810789355880638]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[-0.6118415105714148,0.5957522654366025,0.71338606911949],"aabb_xy":[[-0.6589708895732505,0.5317522643922004],[-0.5647121315695791,0.6597522664810043]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.28031870435672196,-1.7500270167529623,0.71338606911949],"aabb_xy":[[-0.34431870603471926,-1.7985444082322763],[-0.21631870267872455,-1.701509625273648]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.06013509737861977,1.1845842882903432,0.71338606911949],"aabb_xy":[[-0.07763509651298693,1.1747046612527552],[-0.042635098244252594,1.1944639153279308]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.6194795315039596,-0.307394282751968,0.71338606911949],"aabb_xy":[[-0.641979531317862,-0.3118688991224487],[-0.5969795316900572,-0.3029196663814873]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.47654477524084715,-0.47649803002765223,0.71338606911949],"aabb_xy":[[0.4390447748926193,-0.4882894256087357],[0.5140447755890748,-0.4647066344465686]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.4421794506925161,1.3673775640080206,0.71338606911949],"aabb_xy":[[-0.4513393296363926,1.3608463459644835],[-0.4330195717486394,1.3739087820515576]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.127968836201252,1.5536658925634472,0.71338606911949],"aabb_xy":[[-0.19296883883904548,1.5021862938640005],[-0.0629688335634585,1.6051454912628944]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.27522871138355376,-0.8901727004585684,0.71338606911949],"aabb_xy":[[-0.2923307893419219,-0.9072795059898381],[-0.2581266334251856,-0.8730658949272986]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[0.3031853283556504,-2.26528401925731,0.71338606911949],"aabb_xy":[[0.23918532601284878,-2.310224870501442],[0.3671853306984519,-2.220343168013177]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_23","position":[0.26742920333313025,0.6791226609305352,0.71338606911949],"aabb_xy":[[0.23057865539614264,0.6416226601075015],[0.30427975127011786,0.7166226617535689]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[0.2567704175639629,-1.4675656020866354,0.71338606911949],"aabb_xy":[[0.1867704149273765,-1.4876704670825007],[0.3267704202005492,-1.4474607370907697]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[-0.04621397954627593,-1.1531447607564436,0.71338606911949],"aabb_xy":[[-0.0515515552122805,-1.1781447616855836],[-0.04087640388027136,-1.128144759827304]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_26","position":[-0.14904839181669194,0.18485193978975856,0.71338606911949],"aabb_xy":[[-0.15707466244731796,0.17610044481240594],[-0.14102212118606597,0.19360343476711117]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[-0.6567841715882369,1.418845737526056,0.71338606911949],"aabb_xy":[[-0.6820050084480764,1.393621986673169],[-0.6315633347283971,1.4440694883789424]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_28","position":[0.3834631853607926,1.4703326928120943,0.71338606911949],"aabb_xy":[[0.37932732902809246,1.4328326933677376],[0.38759904169349285,1.5078326922564516]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_29","position":[-0.2568015459610658,0.6188758222801387,0.71338606911949],"aabb_xy":[[-0.2943015445366866,0.6061395266165807],[-0.21930154738544502,0.6316121179436965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707636985673471,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2633.png","name":"2633"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2633.png","name":"2633"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/539.png","name":"539"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5418.png","name":"5418"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7280.png","name":"7280"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/570.png","name":"570"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":704.9820408856361,"rotation_z_degrees":284.64739330629953,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011389360164541538,-0.011104277036581319,0.011943009570120153]},{"name":"camera_2","offset_m":[0.010854809496699539,0.00044715739493761744,0.014919158671208795]},{"name":"camera_3","offset_m":[0.013906270841802685,0.007328639919360697,-0.018173459286487673]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005588009255823496,-0.0009690106364190231,0.0013053356122752404],"end_effector_yaw_offset_degrees":0.6840035035815117},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00046240460935252376,0.001824584552001119,0.0009446965661347399],"end_effector_yaw_offset_degrees":0.46175666775002955},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018549785921936977,-0.0011392384237418661,-0.0011127972097458826],"end_effector_yaw_offset_degrees":-0.4912464309733193}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036045438956375095,0.004576975211669754],"position_m":[0.21540454389563748,0.028376975211669757,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017962751825241108,-0.00039387568819290644],"position_m":[0.2728037248174759,-0.30799387568819286,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012222386369308657,0.002019567890809656],"position_m":[0.16237776136306914,0.22761956789080964,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004430042886494835,0.004232825557240988],"position_m":[0.34926995711350517,0.172432825557241,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea009d00b613c5338286208daa28551a013dd17fa9e4030061be33473bd83727","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2633/tex_ceiling_textures_570/tex_floor_textures_7280/tex_table_textures_539/tex_wall_textures_5418","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3490577518461076254,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3490577518461076254,"visual_seed":3490577518461076254,"scene_id":"lab_003","finished_at":"2026-09-04T15:20:27"} +{"episode_id":"ep_000036","started_at":"2026-09-04T15:20:30","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.41462289770177496,-0.17206744129292328,0.71338606911949],"aabb_xy":[[0.39712289856740773,-0.18194706833051108],[0.4321228968361421,-0.16218781425533543]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[-0.11245930939550675,1.6423933145031113,0.71338606911949],"aabb_xy":[[-0.20245930613111696,1.5892098511858168],[-0.022459312659896535,1.6955767778204058]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.021462188698645468,1.2689595393126636,0.71338606911949],"aabb_xy":[[-0.028502498632182467,1.1889595399129924],[-0.014421878765108479,1.3489595387123352]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[0.017830733015818057,-2.1493759812986726,0.71338606911949],"aabb_xy":[[0.009717078342440955,-2.157481797752702],[0.02594438768919516,-2.1412701648446433]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[0.22853031289643033,-2.2507312148401977,0.71338606911949],"aabb_xy":[[0.16453031559408388,-2.2950976418080544],[0.2925303101987767,-2.206364787872341]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[-0.6197964546900742,1.0743776600446768,0.71338606911949],"aabb_xy":[[-0.6837964539842424,1.0103915196758226],[-0.5557964553959059,1.138363800413531]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[0.027874591143611682,-2.2640773689229516,0.71338606911949],"aabb_xy":[[-0.0071254080492065865,-2.2750444149206137],[0.06287459033642995,-2.2531103229252887]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.3995880427718955,-0.14131608985134037,0.71338606911949],"aabb_xy":[[-0.41115702351883204,-0.1663160899682721],[-0.3880190620249589,-0.11631608973440868]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.20925782772482243,-0.8199483959225273,0.71338606911949],"aabb_xy":[[-0.2142138479097037,-0.842448396124649],[-0.2043018075399413,-0.7974483957204057]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.11599398590212173,-2.419928756114376,0.71338606911949],"aabb_xy":[[0.10875021985587642,-2.4999287543179785],[0.12323775194836707,-2.3399287579107737]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.3456076734487888,-1.098438199003867,0.71338606911949],"aabb_xy":[[-0.40960767415225824,-1.144456581476788],[-0.2816076727453195,-1.052419816530946]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[-0.11034428767204896,-1.3062213653943469,0.71338606911949],"aabb_xy":[[-0.13285797949550615,-1.3762213659953542],[-0.08783059584859175,-1.236221364793339]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[0.641189360726967,1.3718221324159852,0.71338606911949],"aabb_xy":[[0.6199113525834946,1.3068221300899119],[0.6624673688704391,1.436822134742058]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.4826601756440152,-1.5185883532268658,0.71338606911949],"aabb_xy":[[0.45814655154700945,-1.5428529465289023],[0.5071737997410212,-1.4943237599248294]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[-0.06167908381180842,-0.24655849889816217,0.71338606911949],"aabb_xy":[[-0.06960236405055675,-0.26905849913616553],[-0.05375580357306008,-0.22405849866015884]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[0.6941869546380521,-1.5750951202173475,0.71338606911949],"aabb_xy":[[0.6882204156973164,-1.5810562648767115],[0.7001534935787879,-1.5691339755579836]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[-0.3878712494103194,-2.324957825720956,0.71338606911949],"aabb_xy":[[-0.4047819818466612,-2.33843003131357],[-0.37096051697397764,-2.311485620128341]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[-0.09135639453879185,0.33347143423087955,0.71338606911949],"aabb_xy":[[-0.10885639381687873,0.3161333341645336],[-0.07385639526070498,0.3508095342972255]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[-0.19784399857422935,0.9120232423058257,0.71338606911949],"aabb_xy":[[-0.25284399677597413,0.871501275679388],[-0.14284400037248451,0.9525452089322631]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[-0.5314321673865812,-0.05903786883715245,0.71338606911949],"aabb_xy":[[-0.5657290784043216,-0.09333475504709382],[-0.49713525636884043,-0.024740982627211076]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.34973001360368655,-2.1659867602904086,0.71338606911949],"aabb_xy":[[-0.39970330760694694,-2.215986760844956],[-0.29975671960042605,-2.1159867597358613]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[0.20358107592879426,1.3422290975450228,0.71338606911949],"aabb_xy":[[0.1185810772367196,1.3102432341501438],[0.2885810746208689,1.3742149609399015]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[0.2982555696328859,0.5901513102793281,0.71338606911949],"aabb_xy":[[0.28648738283822844,0.5051513103741067],[0.3100237564275435,0.6751513101845498]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[0.13690093135075554,-1.2450144659512192,0.71338606911949],"aabb_xy":[[0.07290092813211771,-1.2917375778502276],[0.20090093456939342,-1.1982913540522109]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[0.2752588516506337,-1.9038995089382569,0.71338606911949],"aabb_xy":[[0.2646913719925347,-1.9144445390512654],[0.2858263313087327,-1.8933544788252483]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[-0.10094806166755865,1.5159435732479198,0.71338606911949],"aabb_xy":[[-0.11611093464449575,1.5007781159528015],[-0.08578518869062157,1.531109030543039]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6749714930777283,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/985.png","name":"985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/985.png","name":"985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7627.png","name":"7627"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7771.png","name":"7771"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2747.png","name":"2747"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6690.png","name":"6690"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":742.6062816774577,"rotation_z_degrees":29.70625177616888,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006322627083697961,0.0005045168619353148,0.014820360271930105]},{"name":"camera_2","offset_m":[-0.003827383429321613,0.0044813580279521315,0.005883877168250926]},{"name":"camera_3","offset_m":[0.009395489137935684,0.014328138682730206,-0.007115279994598071]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010621386431391823,0.000598799076393969,-0.0006263393775905275],"end_effector_yaw_offset_degrees":-0.2009761277345974},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001077517585618311,-0.00032585000687532836,0.00029744872387111937],"end_effector_yaw_offset_degrees":0.4404024449077344},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006816290435611569,0.0014997973448749031,-1.8178589836538757e-05],"end_effector_yaw_offset_degrees":0.31559604314927303}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003573285459499459,0.002355359211097011],"position_m":[0.21537328545949944,0.02615535921109701,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030730418948377173,-0.00012740572643374273],"position_m":[0.2776730418948377,-0.3077274057264337,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026815644167348662,0.004017228888000019],"position_m":[0.16628156441673486,0.229617228888,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018166165133720702,-0.0047656423650355995],"position_m":[0.35188338348662795,0.1634343576349644,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"98bf5ccb7aa19572766dc81cd21eaf293ec51d781266a74f2a0d898f11082531","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0036.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_985/tex_ceiling_textures_6690/tex_floor_textures_2747/tex_table_textures_7627/tex_wall_textures_7771","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4166037261646872741,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4166037261646872741,"visual_seed":4166037261646872741,"scene_id":"lab_003","finished_at":"2026-09-04T15:23:08"} +{"episode_id":"ep_000037","started_at":"2026-09-04T15:23:12","dimensions":{"distractor":{"count":24,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.34257518322462177,1.238391067153941,0.71338606911949],"aabb_xy":[[0.33070310021312066,1.1533910674602905],[0.3544472662361229,1.3233910668475912]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.11185367374872546,1.1240553019613175,0.71338606911949],"aabb_xy":[[-0.19685367216614869,1.0391810064990326],[-0.02685367533130223,1.2089295974236025]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.4534831641971748,0.4915193861669631,0.71338606911949],"aabb_xy":[[0.44291568453907576,0.4809743560539545],[0.4640506438552738,0.5020644162799717]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.5421290134549079,0.0623464458041294,0.71338606911949],"aabb_xy":[[-0.5477106850890368,0.0498464459863539],[-0.5365473418207791,0.07484644562190489]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[-0.49859310193904655,-2.016256117602238,0.71338606911949],"aabb_xy":[[-0.5114650054399867,-2.096256118016074],[-0.4857211984381064,-1.936256117188402]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.6600429647393335,-1.124386093638504,0.71338606911949],"aabb_xy":[[0.5960429683437605,-1.1883493820572375],[0.7240429611349066,-1.0604228052197704]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[-0.40369044597708287,1.384595943014288,0.71338606911949],"aabb_xy":[[-0.4536904476385776,1.334597500758585],[-0.35369044431558805,1.4345943852699905]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[-0.23932070656347848,-1.6767932681242743,0.71338606911949],"aabb_xy":[[-0.2933363028453785,-1.7407932710165315],[-0.18530511028157845,-1.6127932652320172]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.20992156809352724,1.0284230549863005,0.71338606911949],"aabb_xy":[[0.11992156867515635,0.9950475581421105],[0.29992156751189814,1.06179855183049]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.5441065203403266,-0.5433544243469242,0.71338606911949],"aabb_xy":[[-0.6081065206143048,-0.5934205245442121],[-0.48010652006634835,-0.4932883241496362]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[-0.3629151384038818,0.1327680497994259,0.71338606911949],"aabb_xy":[[-0.4179083497410186,0.0777680494606323],[-0.30792192706674504,0.18776805013821954]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.03880709351491973,1.4002796632252545,0.71338606911949],"aabb_xy":[[-0.055817190804970385,1.3841451747269806],[-0.02179699622486908,1.4164141517235285]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[0.3906616482409069,-1.680035744286635,0.71338606911949],"aabb_xy":[[0.3865257919082067,-1.7175357437309917],[0.39479750457360707,-1.6425357448422777]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[-0.13978402812393342,-0.738649111341924,0.71338606911949],"aabb_xy":[[-0.17728402794096698,-0.7432873226530657],[-0.10228402830689987,-0.7340109000307821]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.33112778795108344,0.602073073462746,0.71338606911949],"aabb_xy":[[0.3232045077123351,0.5795730732247426],[0.3390510681898318,0.6245730737007493]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[-0.17847763142739848,1.7544672051041483,0.71338606911949],"aabb_xy":[[-0.26847763376141753,1.6769848505190357],[-0.08847762909337942,1.831949559689261]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[-0.579868541604748,-0.3076227181382203,0.71338606911949],"aabb_xy":[[-0.6259536328594795,-0.37162271539077546],[-0.5337834503500165,-0.24362272088566525]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.4252559457870053,-1.2360546511696522,0.71338606911949],"aabb_xy":[[0.40775594552766875,-1.250146193358425],[0.442755946046342,-1.2219631089808798]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.6231152807429718,0.3801238408764962,0.71338606911949],"aabb_xy":[[0.5431152821556524,0.3008082389383353],[0.7031152793302913,0.4594394428146571]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.7039362890477472,-0.5068451651491817,0.71338606911949],"aabb_xy":[[0.6990369967411837,-0.5345220844517504],[0.7088355813543107,-0.4791682458466129]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.17161319974347644,1.5078757654827464,0.71338606911949],"aabb_xy":[[0.11398273085620558,1.4478757665560356],[0.22924366863074727,1.5678757644094565]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[-0.07950557295040528,1.5605790258524093,0.71338606911949],"aabb_xy":[[-0.08362152306247791,1.5564634708195635],[-0.07538962283833259,1.5646945808852546]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.10163582381234615,-0.24738060218791746,0.71338606911949],"aabb_xy":[[-0.119214126001293,-0.26495509176202237],[-0.0840575216233993,-0.2298061126138126]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[-0.1778435761881748,1.4655791651227648,0.71338606911949],"aabb_xy":[[-0.25784357665839075,1.4572684575084165],[-0.09784357571795887,1.473889872737113]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6723473303000057,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1526.png","name":"1526"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1526.png","name":"1526"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6964.png","name":"6964"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5634.png","name":"5634"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1413.png","name":"1413"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":576.6127055275513,"rotation_z_degrees":83.2513610001737,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006158771833666811,-0.013414253618501388,-0.008708233203166015]},{"name":"camera_2","offset_m":[-0.007277902117933612,0.008012492464984443,0.005565475871903095]},{"name":"camera_3","offset_m":[-0.016797453182881235,-0.012405671159801113,0.019201037271661833]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00013508651772723822,-0.0011659112535260495,0.0013556360693964234],"end_effector_yaw_offset_degrees":0.5779015997482975},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006204243529961105,0.001069558185759102,-0.0008373568620243144],"end_effector_yaw_offset_degrees":-0.8757623887834469},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001145581238482127,0.0013867261804260604,-0.0013703691468268694],"end_effector_yaw_offset_degrees":-0.7907935129447456}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009410859296369182,-0.004126686519187914],"position_m":[0.21274108592963692,0.01967331348081209,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003529911155237568,0.0003195846135940327],"position_m":[0.2749529911155238,-0.30728041538640594,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033792763347901293,0.001781815041920277],"position_m":[0.16022072366520987,0.22738181504192026,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029277984803481373,0.000851969013937596],"position_m":[0.3507722015196519,0.1690519690139376,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b97b1e724c1c46ee9c70f0752b4b0c93720e594e7557222a1cad2595fe827d23","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1526/tex_ceiling_textures_1413/tex_floor_textures_5634/tex_table_textures_3902/tex_wall_textures_6964","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7169385734103160921,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7169385734103160921,"visual_seed":7169385734103160921,"scene_id":"lab_003","finished_at":"2026-09-04T15:26:03"} +{"episode_id":"ep_000038","started_at":"2026-09-04T15:26:06","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.008600251041770868,1.644463252391391,0.71338606911949],"aabb_xy":[[-0.04137716582348271,1.5944632509021421],[0.05857766790702445,1.6944632538806392]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.1924285984303954,0.1016014970802761,0.71338606911949],"aabb_xy":[[-0.22689107644348316,0.09493781989735328],[-0.15796612041730762,0.10826517426319893]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[0.3929092954783664,0.4146863110054757,0.71338606911949],"aabb_xy":[[0.3809765611165383,0.40230415819761634],[0.40484202984019446,0.4270684638133351]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.14214956669755419,-2.1747943311027735,0.71338606911949],"aabb_xy":[[0.07815386930245757,-2.2387943294034818],[0.20614526409265074,-2.1107943328020644]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[-0.0784489780811719,1.1369232622472456,0.71338606911949],"aabb_xy":[[-0.10035766022052295,1.1150225954271549],[-0.05654029594182086,1.1588239290673363]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.6708565845640793,-0.17000957741812117,0.71338606911949],"aabb_xy":[[0.6537545066057111,-0.18711638294939092],[0.6879586625224474,-0.15290277188685142]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[0.4685462193229859,-0.5595632748344479,0.71338606911949],"aabb_xy":[[0.45976499217574984,-0.5683430221229782],[0.4773274464702223,-0.5507835275459179]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[-0.49562109263919607,-0.20533201452805505,0.71338606911949],"aabb_xy":[[-0.5329523691644387,-0.2399850693229074],[-0.4582898161139535,-0.17067895973320277]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[-0.3098634963015493,-1.8458722368716516,0.71338606911949],"aabb_xy":[[-0.32301474227283866,-1.8708722366283383],[-0.29671225033025994,-1.8208722371149653]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[0.263138665561651,-2.336286582806626,0.71338606911949],"aabb_xy":[[0.25189360999103316,-2.347528380530721],[0.27438372113226883,-2.3250447850825307]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.3683145804962239,1.1748513903578006,0.71338606911949],"aabb_xy":[[-0.37922035658378656,1.0948513939589715],[-0.35740880440866113,1.2548513867566298]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[-0.4618421952910424,-2.460819925802694,0.71338606911949],"aabb_xy":[[-0.5418421922540815,-2.5378955674464674],[-0.38184219832800315,-2.3837442841589205]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.4888081801947271,-2.067322546277481,0.71338606911949],"aabb_xy":[[-0.49477471913546284,-2.073283690936845],[-0.48284164125399126,-2.0613614016181168]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.3920765632553551,-1.386862317177469,0.71338606911949],"aabb_xy":[[0.3840502926247291,-1.3956138121548216],[0.4001028338859811,-1.3781108222001164]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.05703006828860979,-1.3143951626362325,0.71338606911949],"aabb_xy":[[-0.08061519175250464,-1.3793951648816642],[-0.033444944824714946,-1.2493951603908007]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.13237653432544438,-0.2157153858488967,0.71338606911949],"aabb_xy":[[-0.15487653433559267,-0.2298116054885],[-0.10987653431529609,-0.20161916620929343]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.08726198337261737,-0.3955892538460226,0.71338606911949],"aabb_xy":[[-0.09169261272745756,-0.40103762558070527],[-0.0828313540177772,-0.39014088211134007]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[0.3841446031500637,-0.7883618069202942,0.71338606911949],"aabb_xy":[[0.37257562240312714,-0.8133618070372259],[0.3957135838970003,-0.7633618068033625]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.3503851864259272,-0.9115530813263699,0.71338606911949],"aabb_xy":[[-0.37288518666944265,-0.9237577159861419],[-0.32788518618241186,-0.899348446666598]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.5090563802756762,-0.36306104779051473,0.71338606911949],"aabb_xy":[[0.4785721301486461,-0.4130610475720106],[0.5395406304027064,-0.31306104800901874]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.4279537026503462,1.6178346321002182,0.71338606911949],"aabb_xy":[[-0.4729462893687966,1.5728346328257694],[-0.3829611159318958,1.662834631374667]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.24313250629124772,-0.555061426326839,0.71338606911949],"aabb_xy":[[0.2299015607565664,-0.5682888453488383],[0.256363451825929,-0.5418340073048394]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.1862571272480047,-1.575923282068088,0.71338606911949],"aabb_xy":[[-0.20383542943695154,-1.593497771642193],[-0.16867882505905785,-1.558348792493983]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[0.5351459597378527,0.9311741060540948,0.71338606911949],"aabb_xy":[[0.5008296825632348,0.8811741060809168],[0.5694622369124707,0.9811741060272723]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[-0.5458224395254464,0.8832147521806784,0.71338606911949],"aabb_xy":[[-0.5530662055716917,0.803214753977076],[-0.5385786734792011,0.9632147503842807]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[0.6642069043271677,0.03302854129453525,0.71338606911949],"aabb_xy":[[0.6467069051928004,0.023148914256947425],[0.6817069034615347,0.04290816833212307]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[0.21649410703033345,-1.7343203315013243,0.71338606911949],"aabb_xy":[[0.19460435944139265,-1.8243203287905736],[0.23838385461927425,-1.6443203342120754]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[0.467346777873896,-1.1445829275254726,0.71338606911949],"aabb_xy":[[0.45557859107923854,-1.2295829274306942],[0.4791149646685536,-1.059582927620251]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_28","position":[0.32093694621638114,0.8342689969099712,0.71338606911949],"aabb_xy":[[0.2834369463993476,0.8296307855988294],[0.3584369460334147,0.8389072082211131]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6721954278815198,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1933.png","name":"1933"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1933.png","name":"1933"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1560.png","name":"1560"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6488.png","name":"6488"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8905.png","name":"8905"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3979.png","name":"3979"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":751.095208334996,"rotation_z_degrees":81.42330526361899,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007715216613568292,0.003977353097745974,-0.008813705510365977]},{"name":"camera_2","offset_m":[-0.004556513635097242,0.01029646963154712,0.014782829543195663]},{"name":"camera_3","offset_m":[-0.005515007221373854,-0.004731967320894785,-0.0032760827283202475]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00041261034535412973,-0.0003598310662983092,0.0009517309975744072],"end_effector_yaw_offset_degrees":-0.26409246142247045},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001722049051872709,0.0003491147254521534,0.0013111433878579344],"end_effector_yaw_offset_degrees":0.353766429501817},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006691911524830015,0.0008012631481856595,-0.0017960547905352744],"end_effector_yaw_offset_degrees":-0.7179635694750504}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0046247954751978656,-0.0015407475060502242],"position_m":[0.21642479547519786,0.022259252493949777,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000730194864174724,0.00138808000304018],"position_m":[0.27533019486417476,-0.3062119199969598,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005646481979916405,0.0006241348001113263],"position_m":[0.16303535180200834,0.22622413480011133,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002562282161931493,-0.00046566868393921844],"position_m":[0.3511377178380685,0.16773433131606078,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0e3bec9461ea17ff17c61b90af4e3bf67895611fd32138f603d850044906e5ab","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1933/tex_ceiling_textures_3979/tex_floor_textures_8905/tex_table_textures_1560/tex_wall_textures_6488","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5557807520046788070,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5557807520046788070,"visual_seed":5557807520046788070,"scene_id":"lab_003","finished_at":"2026-09-04T15:28:50"} +{"episode_id":"ep_000039","started_at":"2026-09-04T15:28:53","dimensions":{"distractor":{"count":22,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.6107643090968877,-2.1746267019561483,0.71338606911949],"aabb_xy":[[-0.633264309107036,-2.188722921595751],[-0.5882643090867394,-2.1605304823165445]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[0.6301275231365797,1.2858957036184773,0.71338606911949],"aabb_xy":[[0.6252282308300161,1.2582187843159085],[0.6350268154431431,1.313572622921046]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[-0.463485134997815,-0.3884889475821467,0.71338606911949],"aabb_xy":[[-0.48598427072404204,-0.41098894836040967],[-0.4409859992715881,-0.3659889468038837]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[0.030071584853871847,-1.907871603931698,0.71338606911949],"aabb_xy":[[-0.019905832011381734,-1.9578716054209464],[0.08004900171912542,-1.8578716024424493]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[0.40951474924686226,-1.3135233270038824,0.71338606911949],"aabb_xy":[[0.37705304836493475,-1.3436561591187846],[0.44197645012878967,-1.2833904948889794]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[-0.6139032184765434,-2.3483683904440924,0.71338606911949],"aabb_xy":[[-0.6939032206393059,-2.4283235740702365],[-0.5339032163137809,-2.2684132068179492]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.03763370037522629,-1.7451989528353768,0.71338606911949],"aabb_xy":[[0.02800206415479667,-1.7548362656150858],[0.047265336595655905,-1.735561640055668]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.6449708747570926,-2.034054464375348,0.71338606911949],"aabb_xy":[[0.5809708730790951,-2.082571855854662],[0.7089708764350898,-1.9855370728960335]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.43056339850480474,-2.463681440289441,0.71338606911949],"aabb_xy":[[0.3805791627966275,-2.513681439102937],[0.48054763421298197,-2.413681441475946]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[-0.012142523031385521,-1.0820636180694807,0.71338606911949],"aabb_xy":[[-0.0303483466926332,-1.0930890186514723],[0.006063300629862154,-1.071038217487489]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[0.37002604211549617,-2.044345608464628,0.71338606911949],"aabb_xy":[[0.33570976494087823,-2.0943456084378056],[0.4043423192901141,-1.9943456084914502]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[0.0006104675259601677,0.6881223054298857,0.71338606911949],"aabb_xy":[[-0.04938953349317511,0.6516560896920578],[0.05061046854509545,0.7245885211677137]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[0.4121626019072624,1.1888236031712056,0.71338606911949],"aabb_xy":[[0.3775715190532171,1.1238236028861743],[0.44675368476130756,1.2538236034562364]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.5282950296711245,1.2125299802804759,0.71338606911949],"aabb_xy":[[-0.54616413742558,1.1986970723032648],[-0.510425921916669,1.226362888257687]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.17251604539969934,-2.4596358087836587,0.71338606911949],"aabb_xy":[[-0.1807305905153833,-2.4683123990812996],[-0.16430150028401533,-2.450959218486017]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[0.6440719958003418,1.6315040582734652,0.71338606911949],"aabb_xy":[[0.6141044388905161,1.6015040579755795],[0.6740395527101675,1.661504058571351]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.5133465866084839,-1.6779231925499851,0.71338606911949],"aabb_xy":[[-0.5683420644291433,-1.7329231939838918],[-0.4583511087878245,-1.622923191116078]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.3885889090165302,-0.7155959369283862,0.71338606911949],"aabb_xy":[[0.3245889083130609,-0.7616143194013074],[0.45258890971999965,-0.6695775544554653]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.3516935841102571,-2.389183585828793,0.71338606911949],"aabb_xy":[[-0.43669358252768037,-2.474057881291078],[-0.2666935856928339,-2.304309290366508]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[-0.055563184714458536,-1.3989724821557592,0.71338606911949],"aabb_xy":[[-0.12056318259610635,-1.4500961458623],[0.009436813167189253,-1.3478488184492183]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[0.44242570514719204,1.661479706914442,0.71338606911949],"aabb_xy":[[0.42236729353395164,1.6414146200052844],[0.4624841167604322,1.6815447938235992]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[-0.13839388871066383,1.0076698635186796,0.71338606911949],"aabb_xy":[[-0.1728562361088056,0.9731759811208566],[-0.10393154131252201,1.0421637459165018]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6699750044730507,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6502.png","name":"6502"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6502.png","name":"6502"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8061.png","name":"8061"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6061.png","name":"6061"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3147.png","name":"3147"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2962.png","name":"2962"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":778.380001260698,"rotation_z_degrees":118.09642647132047,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0043088560695782215,-0.010900345924489177,6.186294118188176e-05]},{"name":"camera_2","offset_m":[0.014141220071214964,0.012846411844844408,0.01920544281473339]},{"name":"camera_3","offset_m":[-0.004184088053862646,0.005134627315899663,0.0026699936807587123]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006581614837592529,6.122361185472054e-05,0.0010088829490477913],"end_effector_yaw_offset_degrees":-0.880301904355159},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017598242677223743,0.000367785100191728,3.3703761776272215e-05],"end_effector_yaw_offset_degrees":0.4885678779594953},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003504475313853921,1.6558658662656385e-05,3.8320234815860874e-05],"end_effector_yaw_offset_degrees":-0.16261104062000165}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001024580392482358,0.00026825747516289866],"position_m":[0.21077541960751764,0.0240682574751629,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021002739375896506,0.000736827893053198],"position_m":[0.27249972606241035,-0.3068631721069468,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00249121463549565,0.0037925004968009856],"position_m":[0.16110878536450435,0.229392500496801,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004903798023754246,-0.0006777200859371287],"position_m":[0.3487962019762458,0.16752227991406285,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"09ef21002f4d85425e647d02b51e223be947789072dd7f54ebcf9c6834112110","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0039.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6502/tex_ceiling_textures_2962/tex_floor_textures_3147/tex_table_textures_8061/tex_wall_textures_6061","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1828545077099259488,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1828545077099259488,"visual_seed":1828545077099259488,"scene_id":"lab_003","finished_at":"2026-09-04T15:31:24"} +{"episode_id":"ep_000040","started_at":"2026-09-04T15:31:27","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.5122787052289948,-2.4501445379724442,0.71338606911949],"aabb_xy":[[-0.5672719165661315,-2.505144538311238],[-0.457285493891858,-2.3951445376336506]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.39555525963339844,-0.8959385434678859,0.71338606911949],"aabb_xy":[[-0.4365732030197693,-0.9459385440988434],[-0.35453731624702756,-0.8459385428369287]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[0.34632244198679163,-1.1894978749017282,0.71338606911949],"aabb_xy":[[0.33697543440449634,-1.2038014971193722],[0.3556694495690868,-1.1751942526840842]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[-0.07506548896259235,0.22091476542541777,0.71338606911949],"aabb_xy":[[-0.12506548998172762,0.18444854968758984],[-0.02506548794345708,0.2573809811632457]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[0.5839467449936451,-1.799050203987421,0.71338606911949],"aabb_xy":[[0.5587259081338053,-1.8242739548403077],[0.6091675818534846,-1.7738264531345342]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[0.6589400400626635,0.7096284352707252,0.71338606911949],"aabb_xy":[[0.651527584521275,0.7037772248490972],[0.666352495604052,0.7154796456923531]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.08151961957416698,-2.547996268400726,0.71338606911949],"aabb_xy":[[0.04401961928199216,-2.5520377438013293],[0.1190196198663418,-2.543954793000122]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.5745623359392056,0.09590606205585583,0.71338606911949],"aabb_xy":[[-0.620647427193937,0.031906064803300736],[-0.528477244684474,0.15990605930841095]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.4959880792694935,-2.477464571836268,0.71338606911949],"aabb_xy":[[0.4734743874460363,-2.5474645724372755],[0.5185017710929507,-2.4074645712352605]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.4687395735949238,-1.0840960677706712,0.71338606911949],"aabb_xy":[[0.4531838041846586,-1.0996465010150787],[0.4842953430051891,-1.0685456345262643]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[0.016066153401286365,-1.3864753352854398,0.71338606911949],"aabb_xy":[[0.00802981870000152,-1.3945134545898565],[0.024102488102571203,-1.378437215981023]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[-0.2533718841287754,-0.9283602581217789,0.71338606911949],"aabb_xy":[[-0.3133718857716973,-0.9803604074137231],[-0.19337188248585357,-0.8763601088298347]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.1122565875380509,-2.129269496459073,0.71338606911949],"aabb_xy":[[0.09910534156676155,-2.1542694962157594],[0.12540783350934026,-2.1042694967023863]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[-0.3369609317307057,-2.275733786230712,0.71338606911949],"aabb_xy":[[-0.40096093395111276,-2.320106870356],[-0.2729609295102987,-2.2313607021054236]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.1680009141355041,-1.4327926858806233,0.71338606911949],"aabb_xy":[[0.12019474652173545,-1.4977926885876822],[0.21580708174927274,-1.3677926831735643]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.10989347498455715,-1.9114965508027373,0.71338606911949],"aabb_xy":[[-0.11402933131725734,-1.948996550247094],[-0.10575761865185695,-1.87399655135838]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.18988146430813546,0.9554565737993044,0.71338606911949],"aabb_xy":[[0.10988146632735042,0.9478550328374524],[0.2698814622889205,0.9630581147611563]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[0.47372570387180857,0.5562035859561876,0.71338606911949],"aabb_xy":[[0.45908229831777553,0.5415448662994032],[0.4883691094258415,0.5708623056129717]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[0.3050151772616905,-1.8629805241485498,0.71338606911949],"aabb_xy":[[0.2551983977968557,-1.9129805226328531],[0.35483195672652523,-1.8129805256642464]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[-0.4351500805610118,0.27122909711876364,0.71338606911949],"aabb_xy":[[-0.4851493557294479,0.22122909584281647],[-0.38515080539257557,0.3212290983947108]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[-0.5793625786642268,1.5085044308882538,0.71338606911949],"aabb_xy":[[-0.5874059385901819,1.4235044297928874],[-0.5713192187382715,1.5935044319836202]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.42533939024378303,-1.2199336429285728,0.71338606911949],"aabb_xy":[[-0.4428393895218699,-1.2372717429949187],[-0.40783939096569616,-1.2025955428622268]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[-0.5593585337076279,0.9438591889394314,0.71338606911949],"aabb_xy":[[-0.5689901699280575,0.9342218761597223],[-0.5497268974871983,0.9534965017191401]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[-0.19039648039935952,-0.8260480555623084,0.71338606911949],"aabb_xy":[[-0.22789648119135497,-0.8324158965204984],[-0.15289647960736408,-0.8196802146041182]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_24","position":[0.33549984935234556,-2.3373405087421646,0.71338606911949],"aabb_xy":[[0.3071701394038054,-2.3418012509358817],[0.36382955930088584,-2.3328797665484475]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[-0.41279464670765625,0.8556528193691055,0.71338606911949],"aabb_xy":[[-0.46279464628399103,0.8056722404169997],[-0.3627946471313216,0.9056333983212116]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[0.2825262966795494,1.580566469890678,0.71338606911949],"aabb_xy":[[0.20252629620933355,1.57225576227633],[0.3625262971497654,1.5888771775050266]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_27","position":[0.3477603516827117,1.057754988224762,0.71338606911949],"aabb_xy":[[0.2837603483930035,1.0144200692208445],[0.41176035497241975,1.1010899072286797]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_28","position":[-0.28657368602829536,-1.8386657308740602,0.71338606911949],"aabb_xy":[[-0.3200528532893363,-1.8721448442451671],[-0.2530945187672544,-1.8051866175029532]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_29","position":[0.3832851571778084,-1.6171139203826854,0.71338606911949],"aabb_xy":[[0.3607851571676602,-1.6312101400222887],[0.40578515718795677,-1.6030177007430821]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6753061655494365,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5237.png","name":"5237"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5237.png","name":"5237"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3018.png","name":"3018"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5951.png","name":"5951"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1592.png","name":"1592"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2301.png","name":"2301"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":608.483942383669,"rotation_z_degrees":74.37259965776954,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009988115104569113,0.015860888838319893,-0.004521615375033731]},{"name":"camera_2","offset_m":[0.008695787018059207,-0.0011520955630519476,-0.0029796699909239686]},{"name":"camera_3","offset_m":[0.014935741956436054,0.004493067892467638,0.0025288420387787995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012732249037391732,0.0012922405798499038,0.0011898945797396885],"end_effector_yaw_offset_degrees":0.9017844216933315},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005401823678947387,-0.0003277712081453546,0.0015495801142499255],"end_effector_yaw_offset_degrees":-0.7685852598403902},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012565247150773118,-0.000345117762579389,0.0008455167838998384],"end_effector_yaw_offset_degrees":-0.46826375773714646}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001844847050719719,-0.0024926509274818607],"position_m":[0.20995515294928027,0.02130734907251814,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00206967807437591,-0.002807031068103931],"position_m":[0.2766696780743759,-0.3104070310681039,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026142678224831727,0.000700913961518326],"position_m":[0.16621426782248316,0.22630091396151833,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004973963829641368,0.004497208012484373],"position_m":[0.34872603617035863,0.17269720801248437,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4ae1de5850d2aa694e510481163e674c571ba5fd081205f6d3d6ab3ae31bb5de","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5237/tex_ceiling_textures_2301/tex_floor_textures_1592/tex_table_textures_3018/tex_wall_textures_5951","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7676743818963893058,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7676743818963893058,"visual_seed":7676743818963893058,"scene_id":"lab_003","finished_at":"2026-09-04T15:33:57"} +{"episode_id":"ep_000041","started_at":"2026-09-04T15:34:00","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.38406080258751035,-1.5621152671499234,0.71338606911949],"aabb_xy":[[-0.4340600777559465,-1.6121152684258706],[-0.3340615274190742,-1.5121152658739763]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.49473943773203377,0.443581250306019,0.71338606911949],"aabb_xy":[[0.42473943434047173,0.40826547660258816],[0.5647394411235956,0.4788970240094499]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[0.6478636123858907,0.7882959375932059,0.71338606911949],"aabb_xy":[[0.6303636789519073,0.7707959376729714],[0.665363545819874,0.8057959375134405]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[0.6757062361571098,1.254776705882847,0.71338606911949],"aabb_xy":[[0.6544282280136375,1.1897767035567737],[0.696984244300582,1.3197767082089198]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.6801547760935431,0.562870828576838,0.71338606911949],"aabb_xy":[[0.6582650285046023,0.47287083128758894],[0.7020445236824839,0.6528708258660871]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.0717642432140263,1.6409994545319937,0.71338606911949],"aabb_xy":[[0.0645029956436189,1.6282124442684844],[0.07902549078443373,1.6537864647955034]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.01655936469134167,0.34066732749618067,0.71338606911949],"aabb_xy":[[-0.030893789817505124,0.3286071119416418],[-0.002224939565178219,0.3527275430507195]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.6858500014541613,-2.1813127207174627,0.71338606911949],"aabb_xy":[[-0.6937732816929096,-2.2038127209554665],[-0.677926721215413,-2.15881272047946]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.04304748787010948,-1.1783773333146617,0.71338606911949],"aabb_xy":[[0.03502121723948348,-1.1871288282920143],[0.05107375850073548,-1.169625838337309]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[-0.015126527270867385,-1.8002423582024378,0.71338606911949],"aabb_xy":[[-0.09512652592775339,-1.814747217126701],[0.06487347138601862,-1.7857374992781752]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[-0.6442966186284789,1.1035279428424731,0.71338606911949],"aabb_xy":[[-0.6530986739374514,1.0957166166875438],[-0.6354945633195059,1.111339268997402]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.18603294079339616,-0.6639318455458074,0.71338606911949],"aabb_xy":[[0.17356558268366054,-0.676397170179131],[0.19850029890313184,-0.651466520912484]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.6321301359189748,-0.07059449184993838,0.71338606911949],"aabb_xy":[[-0.6671301372704566,-0.0909542278067592],[-0.5971301345674931,-0.05023475589311754]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[-0.16011538167813077,1.0709975165764503,0.71338606911949],"aabb_xy":[[-0.16407586544786518,1.0633296519909297],[-0.15615489790839643,1.0786653811619709]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.08471542455351366,0.5959552926859826,0.71338606911949],"aabb_xy":[[-0.09786667052480305,0.5709552929292961],[-0.07156417858222432,0.6209552924426692]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.4014647192283961,-1.763211472656324,0.71338606911949],"aabb_xy":[[-0.4664647173843152,-1.7895077172062361],[-0.3364647210724771,-1.7369152281064117]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.4607458667267852,0.6288781055675563,0.71338606911949],"aabb_xy":[[0.42324586662119223,0.622055943714575],[0.49824586683237815,0.6357002674205372]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[0.2619104715212337,-2.0361002905287826,0.71338606911949],"aabb_xy":[[0.22843130426019276,-2.06957940389989],[0.29538963878227464,-2.002621177157676]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[0.15140958829024143,1.3697550511231684,0.71338606911949],"aabb_xy":[[0.08640958973316859,1.3400025177092856],[0.21640958684731426,1.3995075845370508]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[0.4650839447108204,-0.3545682248574522,0.71338606911949],"aabb_xy":[[0.41011022267448743,-0.4095682244216854],[0.5200576667471533,-0.299568225293219]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[-0.23296297686954048,-0.7078945787817077,0.71338606911949],"aabb_xy":[[-0.28296297853103525,-0.7578930210374103],[-0.18296297520804572,-0.6578961365260049]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.5360952861299024,-2.0388678626530212,0.71338606911949],"aabb_xy":[[-0.6000952880422449,-2.0947790119110317],[-0.4720952842175602,-1.9829567133950108]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[-0.14753200096606955,-2.085633475524225,0.71338606911949],"aabb_xy":[[-0.17253200089858745,-2.092516143745148],[-0.12253200103355166,-2.078750807303302]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[0.4002552309010161,-0.8928574037520489,0.71338606911949],"aabb_xy":[[0.35525522943478727,-0.9378572606135297],[0.445255232367245,-0.8478575468905684]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.671175565343391,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9298.png","name":"9298"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9298.png","name":"9298"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7093.png","name":"7093"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6198.png","name":"6198"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2651.png","name":"2651"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3321.png","name":"3321"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":523.0817340735254,"rotation_z_degrees":26.29932980367176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01553445328715412,-0.014482200234042142,-0.01125975976223661]},{"name":"camera_2","offset_m":[0.0011986920466674697,-0.017177863468696767,-0.01604698177563922]},{"name":"camera_3","offset_m":[-0.00505966145565722,0.0028007955403444446,0.01915183287890543]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000831806937714659,0.001169591184046117,0.0019886009649022736],"end_effector_yaw_offset_degrees":0.07536750886708643},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005610480061877003,-0.001891806406593185,0.001121015315823504],"end_effector_yaw_offset_degrees":0.4996907033024396},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009120182982132214,0.0013035351342638355,-0.00044727927945980455],"end_effector_yaw_offset_degrees":0.777342291218615}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012070880344394273,0.00494653672085752],"position_m":[0.2130070880344394,0.028746536720857523,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009059147206701527,0.003979519509143729],"position_m":[0.27550591472067015,-0.30362048049085627,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004007140572878446,-0.0004214809508466342],"position_m":[0.16760714057287845,0.22517851904915337,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0001259110975170112,-0.0011394491329584935],"position_m":[0.353574088902483,0.1670605508670415,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"85756a73922024a5707ef0df8abe7ec37e2917a9124cb129e2b953fc85dcd8a8","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9298/tex_ceiling_textures_3321/tex_floor_textures_2651/tex_table_textures_7093/tex_wall_textures_6198","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2348626474875009908,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2348626474875009908,"visual_seed":2348626474875009908,"scene_id":"lab_003","finished_at":"2026-09-04T15:36:45"} +{"episode_id":"ep_000042","started_at":"2026-09-04T15:36:49","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[-0.6389577964857464,-2.1225076800642313,0.71338606911949],"aabb_xy":[[-0.6487137859949202,-2.1322702141234653],[-0.6292018069765725,-2.1127451460049964]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.341694948993481,1.787472441502906,0.71338606911949],"aabb_xy":[[-0.35919494923853035,1.769972653663339],[-0.3241949487484316,1.8049722293424726]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.37418566837965467,-0.25252760731206436,0.71338606911949],"aabb_xy":[[-0.4127313612048557,-0.29107337836825303],[-0.33563997555445363,-0.2139818362558757]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.0711495686378596,-2.099215847643405,0.71338606911949],"aabb_xy":[[-0.08049657622015483,-2.113519469861049],[-0.061802561055564365,-2.084912225425761]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[-0.31942636520229417,0.17590873752062253,0.71338606911949],"aabb_xy":[[-0.32426995996352415,0.17105708504163844],[-0.3145827704410642,0.18076038999960667]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[-0.44523646584642884,-0.734032548468323,0.71338606911949],"aabb_xy":[[-0.4802364658229247,-0.7434971645159396],[-0.410236465869933,-0.7245679324207064]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.4712146930406631,0.05325987581852232,0.71338606911949],"aabb_xy":[[0.4212317428531837,0.0032598761759618992],[0.5211976432281423,0.1032598754610827]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[-0.12112330661585924,-0.4059097174800548,0.71338606911949],"aabb_xy":[[-0.12838455418626665,-0.41869672774356437],[-0.11386205904545181,-0.3931227072165454]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[0.18440448923674158,-0.6189014986979255,0.71338606911949],"aabb_xy":[[0.17944846905186038,-0.6414014989000473],[0.1893605094216228,-0.596401498495804]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.492211247522953,-0.051044185026733135,0.71338606911949],"aabb_xy":[[-0.5093133254813211,-0.06815099055800289],[-0.4751091695645848,-0.03393737949546338]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.15264775406117237,-1.362510493428421,0.71338606911949],"aabb_xy":[[-0.21764775194282018,-1.4136341571349615],[-0.08764775617952457,-1.3113868297218798]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.46858278970251366,-2.2222060630567677,0.71338606911949],"aabb_xy":[[-0.5385827915112591,-2.243559831820955],[-0.3985827878937682,-2.2008522942925803]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.25238621744399137,1.4719414613551804,0.71338606911949],"aabb_xy":[[0.24296874287412856,1.4625252842174612],[0.26180369201385406,1.4813576384928993]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.012821553801192542,-1.792239921606317,0.71338606911949],"aabb_xy":[[-0.05032155446577124,-1.807926979606539],[0.02467844686338616,-1.7765528636060945]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[0.17854755031998182,0.832336436950011,0.71338606911949],"aabb_xy":[[0.12342234469039103,0.7723364355087237],[0.23367275594957257,0.892336438391298]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[0.26452247448940036,-1.5219934079672712,0.71338606911949],"aabb_xy":[[0.21442501050832674,-1.5859934084770833],[0.314619938470474,-1.4579934074574596]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[-0.4321566965297462,0.6589103545626123,0.71338606911949],"aabb_xy":[[-0.4771492832481966,0.6139103552881635],[-0.3871641098112958,0.703910353837061]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.4671597369213514,0.9692496660709393,0.71338606911949],"aabb_xy":[[-0.5099264438007716,0.905249662649137],[-0.4243930300419312,1.0332496694927418]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.3635597715516785,-0.6243322518308247,0.71338606911949],"aabb_xy":[[-0.45355977097004946,-0.6577077486750145],[-0.2735597721333077,-0.590956754986635]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.7047821144440056,1.6818512042927183,0.71338606911949],"aabb_xy":[[0.6967886246487236,1.6738530723522431],[0.7127756042392877,1.6898493362331943]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[-0.4422499762642895,1.110955744087971,0.71338606911949],"aabb_xy":[[-0.47471167714621687,1.0808229119730681],[-0.40978827538236196,1.1410885762028733]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[0.22363495700851865,-2.111602200085976,0.71338606911949],"aabb_xy":[[0.21485372986128248,-2.1203819473745065],[0.23241618415575493,-2.102822452797446]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[0.09917298314457057,-0.771172962335084,0.71338606911949],"aabb_xy":[[0.02917297975300857,-0.8064887360385149],[0.1691729865361325,-0.7358571886316532]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[-0.163041778978553,1.427365560625582,0.71338606911949],"aabb_xy":[[-0.24304178114131544,1.3474103769994383],[-0.08304177681579047,1.5073207442517256]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.28794205752837576,-1.280580031337742,0.71338606911949],"aabb_xy":[[0.20794205894105636,-1.3598956332759027],[0.3679420561156952,-1.201264429399581]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[0.4718117621848197,1.4385269943328765,0.71338606911949],"aabb_xy":[[0.43531594155754094,1.4020430519061187],[0.5083075828120984,1.4750109367596338]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[-0.07369313466555594,0.7122948191071026,0.71338606911949],"aabb_xy":[[-0.07760700786097846,0.7035458037005458],[-0.06977926147013341,0.7210438345136594]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_27","position":[-0.22140692754447755,0.5827618164236306,0.71338606911949],"aabb_xy":[[-0.28140692739104434,0.5259431942305919],[-0.16140692769791076,0.6395804386166692]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_28","position":[-0.2436906248969708,-2.00797093089104,0.71338606911949],"aabb_xy":[[-0.29868383623410755,-2.0629709312298337],[-0.18869741355983408,-1.9529709305522465]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6741943685746824,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6133.png","name":"6133"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6133.png","name":"6133"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1180.png","name":"1180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/97.png","name":"97"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3665.png","name":"3665"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2351.png","name":"2351"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":811.9864382146351,"rotation_z_degrees":6.537016414699539,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018495756840077055,0.009220117978847104,-0.013121687329390067]},{"name":"camera_2","offset_m":[0.007499874076386956,-0.006050430468080403,-0.011907978772029]},{"name":"camera_3","offset_m":[-0.0036995458744470307,-0.015556469630999787,0.010996203648701179]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004943019884255601,-0.0013782929032259586,0.0012911570273537363],"end_effector_yaw_offset_degrees":-0.827406098567705},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.7560554577748973e-05,-0.001971206883311811,0.0014506107949426488],"end_effector_yaw_offset_degrees":-0.23160702390089138},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019029747574646504,-0.0006393930589818791,0.0001464396186817759],"end_effector_yaw_offset_degrees":-0.24870239920149761}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038227688689207572,0.0003109253712360767],"position_m":[0.20797723113107924,0.02411092537123608,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012074254559782272,-0.002054109097956647],"position_m":[0.27580742545597825,-0.30965410909795665,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0037323860933714944,0.004834809856308066],"position_m":[0.16733238609337148,0.23043480985630807,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025127323459779903,-0.00424343634130439],"position_m":[0.35118726765402203,0.1639565636586956,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69031ad07fa719424fb163543e3fb11f3bc7113d9921abdbef1207d7b7a586f8","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6133/tex_ceiling_textures_2351/tex_floor_textures_3665/tex_table_textures_1180/tex_wall_textures_97","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2228671406813797141,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2228671406813797141,"visual_seed":2228671406813797141,"scene_id":"lab_003","finished_at":"2026-09-04T15:39:26"} +{"episode_id":"ep_000043","started_at":"2026-09-04T15:39:29","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[-0.431970688526383,-0.9060307575236599,0.71338606911949],"aabb_xy":[[-0.4694706888746107,-0.9178221531047436],[-0.39447068817815517,-0.8942393619425765]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[-0.3290690108276499,-1.7287524696172754,0.71338606911949],"aabb_xy":[[-0.33669327891782813,-1.7363856931538193],[-0.32144474273747164,-1.7211192460807319]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[-0.4198442378932831,-2.142379145854031,0.71338606911949],"aabb_xy":[[-0.4838442382708167,-2.192124412704843],[-0.35584423751574945,-2.0926338790032184]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[-0.44701084192350593,-1.5176187774399796,0.71338606911949],"aabb_xy":[[-0.4558128972324786,-1.5254301035949087],[-0.43820878661453316,-1.5098074512850506]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.2815765604360043,1.2403310467997,0.71338606911949],"aabb_xy":[[-0.29404391854574,1.2278657221663767],[-0.2691092023262687,1.2527963714330237]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[0.5482583782189907,0.5720603483359628,0.71338606911949],"aabb_xy":[[0.4582583745420724,0.5106279417588582],[0.6382583818959088,0.6334927549130669]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[-0.3539925564754085,-1.054894341177613,0.71338606911949],"aabb_xy":[[-0.3668644599763486,-1.134894341591449],[-0.3411206529744683,-0.9748943407637768]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.678416563775242,-1.75792788007919,0.71338606911949],"aabb_xy":[[0.6640821386490784,-1.769988095633729],[0.6927509889014053,-1.7458676645246514]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.5081387026460387,0.2982096284443365,0.71338606911949],"aabb_xy":[[0.48562501082258136,0.22820962784332893],[0.5306523944694957,0.368209629045344]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[-0.3841082193542387,1.3346812992251658,0.71338606911949],"aabb_xy":[[-0.40910821862620106,1.3183359356290034],[-0.3591082200822765,1.351026662821328]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[-0.6211530135524046,1.1387959704964845,0.71338606911949],"aabb_xy":[[-0.6370375068177297,1.1244430301976602],[-0.6052685202870794,1.1531489107953083]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[-0.4921548497164141,-1.6544533725233412,0.71338606911949],"aabb_xy":[[-0.5096548499614634,-1.671953160362908],[-0.47465484947136466,-1.6369535846837744]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[-0.32476607907022,-0.6244198580337628,0.71338606911949],"aabb_xy":[[-0.33484778614879346,-0.7044198559258774],[-0.3146843719916465,-0.5444198601416481]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[0.36653392674369956,1.6977276581038203,0.71338606911949],"aabb_xy":[[0.30153392578657234,1.6457794461701145],[0.43153392770082677,1.7496758700375257]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.044219208398526,0.8928581349558384,0.71338606911949],"aabb_xy":[[0.021719208584623617,0.8883835185853577],[0.06671920821242838,0.8973327513263192]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[-0.17098416628527102,-0.6961012886435212,0.71338606911949],"aabb_xy":[[-0.23498416769326166,-0.7478902401674458],[-0.10698416487728034,-0.6443123371195963]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.1022161722398548,-2.0514810809662207,0.71338606911949],"aabb_xy":[[0.09429289200110647,-2.0739810812042245],[0.11013945247860313,-2.028981080728218]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.046942626123193776,-2.0778616936143957,0.71338606911949],"aabb_xy":[[-0.12694262352678717,-2.157854264812578],[0.03305737128039964,-1.9978691224162126]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[0.3364563722479026,-2.247920655800348,0.71338606911949],"aabb_xy":[[0.2748656130239098,-2.3119206539093953],[0.39804713147189547,-2.1839206576913015]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.47949113988763004,-1.149508068850774,0.71338606911949],"aabb_xy":[[0.4342125250064808,-1.2135080681989576],[0.5247697547687793,-1.0855080695025903]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.15128126249597573,0.25580788808305455,0.71338606911949],"aabb_xy":[[-0.2312812657538187,0.17581138029107057],[-0.07128125923813278,0.3358043958750385]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[0.6344429548659964,0.9925719961205943,0.71338606911949],"aabb_xy":[[0.5979471342387176,0.9560880536938368],[0.6709387754932751,1.029055938547352]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[-0.05885972943251372,-0.8846054953939213,0.71338606911949],"aabb_xy":[[-0.13885972801983315,-0.9639210973320822],[0.021140269154805696,-0.8052898934557604]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[-0.19833153189386848,-1.8686662057496721,0.71338606911949],"aabb_xy":[[-0.2783315323640845,-1.8769769133640206],[-0.11833153142365255,-1.860355498135324]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.4644223671386555,0.9813186642928122,0.71338606911949],"aabb_xy":[[-0.47532814322621814,0.901318667893983],[-0.4535165910510927,1.0613186606916414]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[-0.008090978506341995,0.800247191568038,0.71338606911949],"aabb_xy":[[-0.012726093658575379,0.7963798564908893],[-0.003455863354108605,0.8041145266451866]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.14842949883701528,-1.140368232741656,0.71338606911949],"aabb_xy":[[0.12596472886561016,-1.1628682336205163],[0.1708942688084204,-1.1178682318627953]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6759861147563516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1149.png","name":"1149"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1149.png","name":"1149"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5568.png","name":"5568"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3652.png","name":"3652"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3890.png","name":"3890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5520.png","name":"5520"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":820.3804893582335,"rotation_z_degrees":278.5178049880832,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008734314722200813,-0.019199556222130855,0.013004442781131071]},{"name":"camera_2","offset_m":[-0.013484103512503594,0.006447936149015621,0.018982712778862366]},{"name":"camera_3","offset_m":[0.014063812341370389,-0.010405651095159093,-0.01556694540300713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001285597436090104,0.000793121571399256,0.00038774401861267887],"end_effector_yaw_offset_degrees":-0.4168696080539016},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017864590432296681,-0.0013948765939057637,-0.0013721088210884487],"end_effector_yaw_offset_degrees":0.1229042132414555},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016596136202260054,-0.0014573604795583904,-0.0014504227894177847],"end_effector_yaw_offset_degrees":-0.01710160037170616}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0025350872858090536,0.004132622464387688],"position_m":[0.20926491271419093,0.02793262246438769,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023680699108966554,-0.0037090431899576906],"position_m":[0.2769680699108967,-0.31130904318995767,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010095401579169935,-0.0022174641225315896],"position_m":[0.16460954015791698,0.2233825358774684,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0041093533509053,-0.004523661748195606],"position_m":[0.3578093533509053,0.1636763382518044,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e46b8e2ca433368037cdaa9ccdce0b05bacc995cbb5331dc50d586a153a15053","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1149/tex_ceiling_textures_5520/tex_floor_textures_3890/tex_table_textures_5568/tex_wall_textures_3652","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1579647647287900969,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1579647647287900969,"visual_seed":1579647647287900969,"scene_id":"lab_003","finished_at":"2026-09-04T15:42:22"} +{"episode_id":"ep_000044","started_at":"2026-09-04T15:42:25","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[0.04400750816209442,1.7076818071108266,0.71338606911949],"aabb_xy":[[0.0065075082183280245,1.69938871707599],[0.08150750810586083,1.7159748971456632]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.6075074114302781,0.11729543761355954,0.71338606911949],"aabb_xy":[[0.5275074127733921,0.10279057868929674],[0.6875074100871641,0.13180029653782233]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.6155748989422163,-0.716742483985749,0.71338606911949],"aabb_xy":[[0.5684455199403804,-0.7807424850301508],[0.6627042779440517,-0.6527424829413468]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.045672679280490125,0.831740683387086,0.71338606911949],"aabb_xy":[[-0.05890362481517141,0.8185132643650864],[-0.032441733745808825,0.8449681024090853]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[-0.20153765289706171,-1.315373865193227,0.71338606911949],"aabb_xy":[[-0.23497782809308126,-1.3488174910241566],[-0.16809747770104205,-1.2819302393622964]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.5548208501331435,-2.4076395966216544,0.71338606911949],"aabb_xy":[[0.5421940628459471,-2.417185670323227],[0.5674476374203398,-2.3980935229200817]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[0.6132690523613413,-1.8618784548507255,0.71338606911949],"aabb_xy":[[0.6024174461124657,-1.8727377455783765],[0.6241206586102169,-1.8510191641230744]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[0.32161615134272403,1.5315927225006258,0.71338606911949],"aabb_xy":[[0.2666424293063912,1.4765927229363924],[0.37658987337905697,1.5865927220648588]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.10317521599837276,-1.5568105757322872,0.71338606911949],"aabb_xy":[[-0.16317521584493955,-1.6136291979253259],[-0.04317521615180597,-1.4999919535392485]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.2925242198771291,-2.3851415695615565,0.71338606911949],"aabb_xy":[[-0.3095343171671798,-2.40127605805983],[-0.27551412258707847,-2.369007081063282]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.3024648803008819,0.28057034030159,0.71338606911949],"aabb_xy":[[-0.3324324372107076,0.2505703400037042],[-0.27249732339105626,0.3105703405994757]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.1811703671192112,-0.7779702626806912,0.71338606911949],"aabb_xy":[[0.10117036971561778,-0.857962833878874],[0.2611703645228046,-0.6979776914825083]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.41920906655627843,-2.0927318939789954,0.71338606911949],"aabb_xy":[[0.401709133122295,-2.11023189389923],[0.43670899999026175,-2.075231894058761]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.5469818384246943,-1.4715548162558532,0.71338606911949],"aabb_xy":[[0.49698183806412816,-1.5215348034654559],[0.5969818387852602,-1.42157482904625]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[0.3224057126216955,-2.4652594771173955,0.71338606911949],"aabb_xy":[[0.3092544666504062,-2.490259476874082],[0.3355569585929849,-2.440259477360709]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[-0.6215943307752284,-2.438697379940262,0.71338606911949],"aabb_xy":[[-0.6590943308808213,-2.445519541793243],[-0.5840943306696353,-2.4318752180872805]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[-0.5459904258925341,-2.056524613613571,0.71338606911949],"aabb_xy":[[-0.5909830126109845,-2.10152461288802],[-0.5009978391740837,-2.0115246143391223]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.39023368656773993,1.2082919503641905,0.71338606911949],"aabb_xy":[[-0.44522689790487674,1.153291950025397],[-0.3352404752306032,1.2632919507029843]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[-0.10278775369134519,-1.1322669373201544,0.71338606911949],"aabb_xy":[[-0.16678345108644177,-1.1962669356208628],[-0.03879205629624859,-1.0682669390194455]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[0.4469398287949333,-1.7374770941503388,0.71338606911949],"aabb_xy":[[0.3969568786074539,-1.7874770937928994],[0.49692277898241255,-1.6874770945077786]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.33111447948578965,-0.9963854922532553,0.71338606911949],"aabb_xy":[[0.29996756064220653,-1.0663854909400625],[0.36226139832937276,-0.9263854935664482]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[0.6062825727637875,0.398699461471673,0.71338606911949],"aabb_xy":[[0.5887825734857006,0.38136136140532706],[0.6237825720418744,0.41603756153801896]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[-0.3976994373424146,-1.76052963287258,0.71338606911949],"aabb_xy":[[-0.42016420731381976,-1.7830296337514402],[-0.3752346673710095,-1.7380296319937192]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[0.5256597253819948,-1.9838357145842174,0.71338606911949],"aabb_xy":[[0.5137876423704937,-2.068835714277868],[0.5375318083934959,-1.8988357148905672]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[-0.11413228072547366,1.4639319697668367,0.71338606911949],"aabb_xy":[[-0.17813228098594444,1.4189231704139087],[-0.050132280465002836,1.5089407691197647]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[-0.3912585649381959,1.0191453416544802,0.71338606911949],"aabb_xy":[[-0.44125856358411714,0.9692257979950178],[-0.34125856629227475,1.0690648853139426]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[-0.23965907657292956,-2.2096037619354325,0.71338606911949],"aabb_xy":[[-0.30465907921072305,-2.2610833606348795],[-0.17465907393513608,-2.1581241632359855]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.40092601451140863,0.9649008695273089,0.71338606911949],"aabb_xy":[[0.36359473798616604,0.9302478147324567],[0.43825729103665123,0.9995539243221612]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_28","position":[-0.1579536065251903,-0.43934799082692466,0.71338606911949],"aabb_xy":[[-0.2079484394531319,-0.4893479897221682],[-0.1079587735972487,-0.3893479919316811]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_29","position":[0.4649530378347402,-1.2293359655875435,0.71338606911949],"aabb_xy":[[0.42810248989775257,-1.2668359664105773],[0.5018035857717278,-1.1918359647645098]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_30","position":[-0.15193237540216764,-2.4161439397364943,0.71338606911949],"aabb_xy":[[-0.2319323724164156,-2.436278491409905],[-0.07193237838791963,-2.396009388063083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702431243870829,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9130.png","name":"9130"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9130.png","name":"9130"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7601.png","name":"7601"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5562.png","name":"5562"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8819.png","name":"8819"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4093.png","name":"4093"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":702.6831162849417,"rotation_z_degrees":132.56819345962106,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006212299288669877,-0.001683593971413485,0.018300510483703406]},{"name":"camera_2","offset_m":[-0.018760811283004254,0.01436615552930497,0.009139430874661566]},{"name":"camera_3","offset_m":[-0.00806735273956896,-0.011300351626961533,-0.015127693248911566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00032010171528364237,7.103718447404404e-05,-0.0014421643490711996],"end_effector_yaw_offset_degrees":0.8673397765314139},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007017762041966176,0.0009077884954495795,0.0003255244306458404],"end_effector_yaw_offset_degrees":-0.45041878075034303},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011623498258587581,0.0014870729768354418,-0.00023322894350075673],"end_effector_yaw_offset_degrees":-0.8769590123328028}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004806317056937185,-0.0007598875131517588],"position_m":[0.2069936829430628,0.023040112486848244,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00017792258848167448,0.0039045400579692862],"position_m":[0.27442207741151836,-0.3036954599420307,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0030028847607174868,0.002433895888590075],"position_m":[0.1605971152392825,0.22803389588859008,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008686729892721382,0.0025596343247674715],"position_m":[0.35456867298927214,0.17075963432476746,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c74cd196f2463316cdb4bf8deac150925391d225c917a42300dc91978c3a0258","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0044.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9130/tex_ceiling_textures_4093/tex_floor_textures_8819/tex_table_textures_7601/tex_wall_textures_5562","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":835247283244310200,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":835247283244310200,"visual_seed":835247283244310200,"scene_id":"lab_003","finished_at":"2026-09-04T15:45:00"} +{"episode_id":"ep_000045","started_at":"2026-09-04T15:45:03","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.5882029959357016,-1.4417078641974226,0.71338606911949],"aabb_xy":[[0.5082029989726624,-1.518783505841196],[0.6682029928987407,-1.3646322225536491]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.17799791794627173,-0.7018880356887873,0.71338606911949],"aabb_xy":[[-0.22799791960776647,-0.7518864779444899],[-0.12799791628477694,-0.6518895934330845]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.6506034060670054,-2.113171131682913,0.71338606911949],"aabb_xy":[[0.6131034059614123,-2.119993293535894],[0.6881034061725982,-2.106348969829931]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.054500471084602986,-1.1305658637795952,0.71338606911949],"aabb_xy":[[-0.09099629171188173,-1.167049806206353],[-0.018004650457324245,-1.0940819213528379]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[-0.4644981906867463,-2.2688636585737014,0.71338606911949],"aabb_xy":[[-0.5244981912827624,-2.323676131118925],[-0.4044981900907301,-2.214051186028478]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.49793644221593936,-1.327174230514771,0.71338606911949],"aabb_xy":[[-0.5204501340393966,-1.3971742311157782],[-0.4754227503924821,-1.2571742299137632]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.11907595480639088,0.4115126513643963,0.71338606911949],"aabb_xy":[[-0.13936025752978962,0.3912300262216874],[-0.0987916520829921,0.4317952765071051]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.5169480852323867,-0.5160660147682408,0.71338606911949],"aabb_xy":[[0.4369480819745437,-0.5960625225602247],[0.5969480884902296,-0.4360695069762568]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[-0.11257993812144662,0.6210836579825258,0.71338606911949],"aabb_xy":[[-0.1675721887569576,0.5660836562392131],[-0.05758768748593569,0.6760836597258386]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[-0.5824820584889702,-1.9661628819342125,0.71338606911949],"aabb_xy":[[-0.6199820591535488,-1.9818499399344345],[-0.5449820578243914,-1.95047582393399]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[-0.25775647659295703,1.7546592584232417,0.71338606911949],"aabb_xy":[[-0.26333814822708573,1.742159258605466],[-0.2521748049588282,1.767159258241017]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[0.4971003918889545,-1.6093239004558986,0.71338606911949],"aabb_xy":[[0.43310038867031664,-1.656047012354907],[0.5611003951075924,-1.5626007885568902]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.11548517871581587,-1.937727136079558,0.71338606911949],"aabb_xy":[[-0.12524116822498976,-1.9474896701387925],[-0.10572918920664197,-1.9279646020203236]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.356244834130347,-1.7220915603157296,0.71338606911949],"aabb_xy":[[0.3410726648487137,-1.7372604172439334],[0.37141700341198036,-1.7069227033875267]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[0.13459724419921637,-1.1207115070667182,0.71338606911949],"aabb_xy":[[0.10419913310007277,-1.1511184090683875],[0.16499535529835993,-1.0903046050650484]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[-0.10333362471107022,-0.16969198728402057,0.71338606911949],"aabb_xy":[[-0.10703688604020908,-0.1733940055927384],[-0.09963036338193135,-0.1659899689753027]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.5322235355419651,1.3756373151335826,0.71338606911949],"aabb_xy":[[0.46822353362962277,1.3197261658755721],[0.5962235374543075,1.431548464391593]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[0.20514529260504988,0.7648675025505711,0.71338606911949],"aabb_xy":[[0.1623785857256297,0.7008674991287687],[0.24791199948447007,0.8288675059723736]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[0.4130568462542783,-1.8636710631384283,0.71338606911949],"aabb_xy":[[0.40112411189245034,-1.8760532159462877],[0.4249895806161065,-1.851288910330569]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.5134171781454308,-1.783373233022925,0.71338606911949],"aabb_xy":[[-0.5509171783173026,-1.816073968405832],[-0.4759171779735587,-1.7506724976400176]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.38870934704285154,-2.420007962847718,0.71338606911949],"aabb_xy":[[0.36006001468243526,-2.4486535221247934],[0.4173586794032677,-2.391362403570642]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.3401003174710564,1.084858302057472,0.71338606911949],"aabb_xy":[[-0.3572023954294246,1.0677514965262023],[-0.3229982395126883,1.1019651075887418]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[0.02297857589954999,-1.785082807492648,0.71338606911949],"aabb_xy":[[-0.03702142574337186,-1.8370829567845923],[0.08297857754247184,-1.733082658200704]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[-0.3150370430256232,-1.5281514071068858,0.71338606911949],"aabb_xy":[[-0.3800370439827504,-1.5800996190405914],[-0.250037042068496,-1.4762031951731802]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[-0.3296068744888666,-0.3597090694416525,0.71338606911949],"aabb_xy":[[-0.352106874732382,-0.37191370410142444],[-0.3071068742453512,-0.34750443478188053]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[-0.6138419704141326,1.0894523462363144,0.71338606911949],"aabb_xy":[[-0.6257140534256337,1.004452346542664],[-0.6019698874026315,1.1744523459299647]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_26","position":[-0.40773600148698413,-0.6973460017253126,0.71338606911949],"aabb_xy":[[-0.42033870062406065,-0.7099413979501781],[-0.39513330234990773,-0.6847506055004471]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_27","position":[0.14618033108333317,-0.6083402009638268,0.71338606911949],"aabb_xy":[[0.06618033061311725,-0.6166509085781753],[0.22618033155354916,-0.6000294933494785]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_28","position":[-0.6386805575834387,0.8704898682476987,0.71338606911949],"aabb_xy":[[-0.6808649717442695,0.8064898679704876],[-0.596496143422608,0.93448986852491]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.676531945495889,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9400.png","name":"9400"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9400.png","name":"9400"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4370.png","name":"4370"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/465.png","name":"465"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6468.png","name":"6468"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/869.png","name":"869"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":831.5984235464798,"rotation_z_degrees":259.52955708012763,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01948296892608667,-0.014653111348792054,0.011175421213598248]},{"name":"camera_2","offset_m":[0.009578771150580923,-0.012639198482440595,0.012968499747310177]},{"name":"camera_3","offset_m":[0.010068335802949233,-0.015833927852708336,0.009125249952850419]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015560610409347925,-0.00039688935171780363,-0.0010415966572009522],"end_effector_yaw_offset_degrees":0.689969770619355},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002781896206827772,0.0009236183270155737,-0.0013023097538466203],"end_effector_yaw_offset_degrees":0.9407434585319385},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012245440699434835,-0.0015211496589178908,-0.0015790644445309923],"end_effector_yaw_offset_degrees":-0.8967169439308498}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004052710822961436,-0.0007637710105189398],"position_m":[0.20774728917703855,0.023036228989481062,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027508460529599675,-0.004156405738356064],"position_m":[0.27735084605295995,-0.31175640573835606,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004403217195654012,0.0035118409750483593],"position_m":[0.159196782804346,0.22911184097504836,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006578993635617978,-0.00020392082995809944],"position_m":[0.3530421006364382,0.1679960791700419,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1c846ff02d6fc0908d268e71764d83cc9a05473780942d5cf7069026ef478c70","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9400/tex_ceiling_textures_869/tex_floor_textures_6468/tex_table_textures_4370/tex_wall_textures_465","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1390724351707472003,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1390724351707472003,"visual_seed":1390724351707472003,"scene_id":"lab_003","finished_at":"2026-09-04T15:47:48"} +{"episode_id":"ep_000046","started_at":"2026-09-04T15:47:51","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.42916482757691393,-2.284982734891603,0.71338606911949],"aabb_xy":[[-0.48916482742348066,-2.341801357084641],[-0.3691648277303471,-2.228164112698564]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.23362800901637398,0.5182366062147366,0.71338606911949],"aabb_xy":[[-0.23776386534907418,0.48073660677037955],[-0.2294921526836738,0.5557366056590936]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.14853679323495206,-1.9031238626238278,0.71338606911949],"aabb_xy":[[-0.22853679189183806,-1.9176287215480907],[-0.06853679457806605,-1.888619003699565]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[-0.12606768890962172,1.3127768075450033,0.71338606911949],"aabb_xy":[[-0.1635676895742004,1.2970897495447808],[-0.088567688245043,1.3284638655452252]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[0.4290929911695138,0.557225703015503,0.71338606911949],"aabb_xy":[[0.4220526812359769,0.4772257036158316],[0.4361333011030509,0.6372257024151744]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.45834897109019734,-1.4031595805494073,0.71338606911949],"aabb_xy":[[0.42084897127316373,-1.407797791860549],[0.49584897090723085,-1.3985213692382654]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.42790447592251785,0.555354754945848,0.71338606911949],"aabb_xy":[[-0.5079044733261111,0.4753621837476652],[-0.3479044785189243,0.6353473261440308]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.6018264436886079,-0.8312472723631936,0.71338606911949],"aabb_xy":[[-0.613188178341894,-0.8426157387694815],[-0.5904647090353217,-0.8198788059569053]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.09745710215821268,0.320307972727083,0.71338606911949],"aabb_xy":[[-0.11495710241754932,0.30621643053831044],[-0.07995710189887606,0.3343995149158557]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.08851455132054253,-1.5266012876637458,0.71338606911949],"aabb_xy":[[-0.09650853989824591,-1.534601367758836],[-0.08052056274283913,-1.5186012075686552]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.07122275832089886,-1.6697295995467791,0.71338606911949],"aabb_xy":[[-0.12621500895640983,-1.7247296012900923],[-0.01623050768538792,-1.6147295978034668]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.5984858400410089,-1.6479357933553382,0.71338606911949],"aabb_xy":[[0.5184858420602237,-1.65553733431719],[0.6784858380217939,-1.640334252393486]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.595017254128918,1.3109756342324985,0.71338606911949],"aabb_xy":[[-0.6169070017178588,1.2209756369432494],[-0.5731275065399772,1.4009756315217476]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[0.2979965278574439,1.7024397980027781,0.71338606911949],"aabb_xy":[[0.23299652675150062,1.6774744249346498],[0.3629965289633872,1.7274051710709064]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.36708864032529,-2.4310294738526776,0.71338606911949],"aabb_xy":[[0.3479763329673111,-2.4501642527299197],[0.38620094768326885,-2.4118946949754356]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.6052755853158658,-2.170930153533234,0.71338606911949],"aabb_xy":[[0.5709593081412478,-2.2209301535064117],[0.6395918624904837,-2.120930153560056]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[-0.6063561510399349,1.5860589203550153,0.71338606911949],"aabb_xy":[[-0.6309023666626855,1.5558100238059782],[-0.5818099354171841,1.6163078169040523]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[-0.5967050525735175,-0.33854234023846175,0.71338606911949],"aabb_xy":[[-0.6567050531695336,-0.3933548127836852],[-0.5367050519775013,-0.28372986769323827]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.5972979426080867,-1.905815695046603,0.71338606911949],"aabb_xy":[[-0.6612979448284937,-1.950188779171891],[-0.5332979403876796,-1.8614426109213145]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[-0.005462861737838609,1.1648310811459663,0.71338606911949],"aabb_xy":[[-0.05947845801973861,1.1008310782537092],[0.04855273454406139,1.2288310840382235]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[-0.5957684265189941,-1.3126762284303106,0.71338606911949],"aabb_xy":[[-0.6045704818279667,-1.3204875545852397],[-0.5869663712100213,-1.3048649022753815]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[0.002371446485522899,0.9750061246379973,0.71338606911949],"aabb_xy":[[-0.03262855486595883,0.9546463886811765],[0.03737144783700463,0.9953658605948181]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[0.31116372414658544,0.7002263948852869,0.71338606911949],"aabb_xy":[[0.2640343451447497,0.6362263938408849],[0.35829310314842105,0.7642263959296888]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[0.5621627102983875,0.5020427942307446,0.71338606911949],"aabb_xy":[[0.5520810032198139,0.42204279633862984],[0.5722444173769609,0.5820427921228591]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[-0.003945357893158641,-0.6841594629601038,0.71338606911949],"aabb_xy":[[-0.05392830808063797,-0.7341594626026641],[0.04603759229432069,-0.6341594633175432]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695390198131356,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/102.png","name":"102"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/102.png","name":"102"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5521.png","name":"5521"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7796.png","name":"7796"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9770.png","name":"9770"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5289.png","name":"5289"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":568.502664846391,"rotation_z_degrees":170.53205949174753,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004567592079668739,0.00025051722777179666,0.002297960804057274]},{"name":"camera_2","offset_m":[0.013508037712015367,0.015404054665040082,0.009476059466526167]},{"name":"camera_3","offset_m":[-0.012085572264720765,0.010272730501376181,-0.012421713697414183]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011133613032002017,-0.000978205315382958,0.0019498422002456163],"end_effector_yaw_offset_degrees":0.13905869048255548},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00030264791931623107,-0.0013706266298536827,0.0005757471842480258],"end_effector_yaw_offset_degrees":0.6625252075204686},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00039291412754774,0.00043877833900879187,-0.0003865711350997225],"end_effector_yaw_offset_degrees":-0.3930825665326676}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004434404958132532,-0.0006737069448815311],"position_m":[0.2162344049581325,0.02312629305511847,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022599756536096304,0.0013791505964128566],"position_m":[0.2723400243463904,-0.3062208494035871,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026553966498968364,-0.004079373401069679],"position_m":[0.16094460335010316,0.22152062659893032,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004565040697081422,-0.003846132112820582],"position_m":[0.3582650406970814,0.1643538678871794,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2384108bbd35b601b68ce899496b018cb25356bb80fa1b6224dcae9d544b2e18","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0046.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_102/tex_ceiling_textures_5289/tex_floor_textures_9770/tex_table_textures_5521/tex_wall_textures_7796","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3845917576901189446,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3845917576901189446,"visual_seed":3845917576901189446,"scene_id":"lab_003","finished_at":"2026-09-04T15:50:29"} +{"episode_id":"ep_000047","started_at":"2026-09-04T15:50:32","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.3833557620795808,0.4904649084680761,0.71338606911949],"aabb_xy":[[-0.4255401762404115,0.4264649081908649],[-0.34117134791875003,0.5544649087452873]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.2767235054389495,-2.1074232935122525,0.71338606911949],"aabb_xy":[[-0.2949293291001972,-2.118448694094244],[-0.25851768177770185,-2.096397892930261]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[0.6452754680814285,-0.4756549326271542,0.71338606911949],"aabb_xy":[[0.5852754664385068,-0.5276550819190984],[0.7052754697243505,-0.42365478333521]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[-0.05177266855274576,-1.1179599023949318,0.71338606911949],"aabb_xy":[[-0.06334164929968235,-1.1429599025118637],[-0.0402036878058092,-1.0929599022780003]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[-0.3697277177465551,0.013154916235539993,0.71338606911949],"aabb_xy":[[-0.41753388536032365,-0.05184508647151896],[-0.3219215501327864,0.07815491894259895]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.0365527290609734,-0.8671759679346958,0.71338606911949],"aabb_xy":[[-0.12655272878414756,-0.8902493204698755],[0.053447270662200785,-0.8441026153995158]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.07667167308841061,-1.7950640467915455,0.71338606911949],"aabb_xy":[[0.006671670956981041,-1.817826012417241],[0.14667167521984012,-1.7723020811658496]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.623536773930094,0.37271963782502615,0.71338606911949],"aabb_xy":[[-0.6308190903067574,0.2827196342155171],[-0.6162544575534301,0.4627196414345351]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.40634045440180255,-0.3956904145463369,0.71338606911949],"aabb_xy":[[0.4007587827676738,-0.4081904143641124],[0.4119221260359313,-0.3831904147285614]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[0.345009971079806,1.3626334957278399,0.71338606911949],"aabb_xy":[[0.31000996972832423,1.342273759771019],[0.3800099724312877,1.3829932316846607]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.4401985462314208,1.3718883702972602,0.71338606911949],"aabb_xy":[[-0.48732792523325635,1.307888369252858],[-0.393069167229585,1.435888371341662]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[0.37677135748133117,-1.9497884687244815,0.71338606911949],"aabb_xy":[[0.32677634652187915,-1.9997884677600737],[0.42676636844078325,-1.8997884696888903]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[-0.2709355549544014,1.2704220199484264,0.71338606911949],"aabb_xy":[[-0.33493555700413347,1.2303275368591184],[-0.20693555290466947,1.3105165030377344]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[0.5465582079262072,1.0505003080116921,0.71338606911949],"aabb_xy":[[0.4925426116443071,0.9865003051194348],[0.6005738042081071,1.114500310903949]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.4557850682402146,-2.270979261693081,0.71338606911949],"aabb_xy":[[-0.47828148967407863,-2.2934792614998285],[-0.43328864680635043,-2.2484792618863336]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[0.08179205314295424,0.65302049386209,0.71338606911949],"aabb_xy":[[0.01779205092254721,0.6086474097368018],[0.14579205536336126,0.6973935779873783]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[0.4685078153662625,0.3768290131136851,0.71338606911949],"aabb_xy":[[0.413512337545603,0.3218290116797782],[0.5235032931869218,0.43182901454759204]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[0.6588536105593916,-2.023533412008477,0.71338606911949],"aabb_xy":[[0.5988536103079904,-2.0778147370449416],[0.7188536108107928,-1.9692520869720125]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[-0.17952253044295619,-2.5295234233872588,0.71338606911949],"aabb_xy":[[-0.24352252772860483,-2.5710301423401023],[-0.11552253315730754,-2.4880167044344144]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.30130671902537687,-1.055185210998845,0.71338606911949],"aabb_xy":[[0.2513067203794557,-1.1051047546583075],[0.35130671767129806,-1.0052656673393827]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.402839292714543,-0.6492622260678145,0.71338606911949],"aabb_xy":[[-0.4668392900168894,-0.6936286530356711],[-0.3388392954121966,-0.6048957990999576]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[-0.05972663613711804,0.8532700048445774,0.71338606911949],"aabb_xy":[[-0.12472663724306132,0.8283046317764491],[0.005273364968825238,0.8782353779127057]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.5399107302701196,-1.3788047288255414,0.71338606911949],"aabb_xy":[[-0.5487127855790922,-1.3866160549804702],[-0.5311086749611468,-1.370993402670612]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[0.5143634027308708,1.3820375222067214,0.71338606911949],"aabb_xy":[[0.4793634036009151,1.376292301131057],[0.5493634018608264,1.3877827432823853]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[0.1287323425708402,0.9061044194407222,0.71338606911949],"aabb_xy":[[0.11795936864947243,0.8711044212216832],[0.139505316492208,0.9411044176597612]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[-0.463779130906047,0.9837507582668286,0.71338606911949],"aabb_xy":[[-0.5137739638339887,0.9337507593715851],[-0.4137842979781054,1.033750757162072]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6704167336663794,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5448.png","name":"5448"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5448.png","name":"5448"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4641.png","name":"4641"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2935.png","name":"2935"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4853.png","name":"4853"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9032.png","name":"9032"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":840.4517897390397,"rotation_z_degrees":53.43866147047256,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007007069393009668,0.009987793310368618,0.01267284791418814]},{"name":"camera_2","offset_m":[-0.009307095998643513,-0.01447713931227812,0.0025402251168634912]},{"name":"camera_3","offset_m":[0.015856490596343104,0.00424058004240406,0.01000125133796597]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011746546880630421,-3.580484186945518e-05,0.001876183583525811],"end_effector_yaw_offset_degrees":-0.3282309825255312},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001000079238083256,0.0014757982768302566,-0.000637151947807288],"end_effector_yaw_offset_degrees":0.763002820082729},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00010050806536615782,0.0012544617090413808,0.0008319736461120525],"end_effector_yaw_offset_degrees":-0.914728664733329}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00320399904795532,-0.00048754410086610835],"position_m":[0.2150039990479553,0.023312455899133895,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012553720925631562,0.0014137711921753853],"position_m":[0.27334462790743685,-0.3061862288078246,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003363059398222069,-0.004587600158295585],"position_m":[0.16696305939822206,0.2210123998417044,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002323993595253832,0.004689933480100495],"position_m":[0.3513760064047462,0.17288993348010048,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f2fe5c6d7caab09ec98eabeda8297b667aafccb742683968ce0dac515afe50ee","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5448/tex_ceiling_textures_9032/tex_floor_textures_4853/tex_table_textures_4641/tex_wall_textures_2935","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4458498565899650252,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4458498565899650252,"visual_seed":4458498565899650252,"scene_id":"lab_003","finished_at":"2026-09-04T15:53:06"} +{"episode_id":"ep_000048","started_at":"2026-09-04T15:53:10","dimensions":{"distractor":{"count":21,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.5012766924559986,0.04072669649929317,0.71338606911949],"aabb_xy":[[0.4653631880310088,0.004813188282538558],[0.5371901968809881,0.0766402047160478]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[0.1007656759534491,0.8759561411068533,0.71338606911949],"aabb_xy":[[0.09352190990720376,0.7959561429032509],[0.10800944199969441,0.9559561393104556]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[-0.4797694593704097,-0.06359456429357158,0.71338606911949],"aabb_xy":[[-0.48769273960915804,-0.08609456453157492],[-0.4718461791316614,-0.0410945640555682]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[0.6127353043113486,-2.174210784118181,0.71338606911949],"aabb_xy":[[0.5792951291153289,-2.2076544099491104],[0.6461754795073681,-2.1407671582872507]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[-0.4880110053682636,1.3319241121948902,0.71338606911949],"aabb_xy":[[-0.5255110055401355,1.2992233768119827],[-0.45051100519639165,1.3646248475777971]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[-0.4068833174117,-2.236469787221592,0.71338606911949],"aabb_xy":[[-0.4708833167058682,-2.3004559275904457],[-0.34288331811753175,-2.1724836468527373]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[0.06938315440256171,-0.8510014679896798,0.71338606911949],"aabb_xy":[[-0.010616846670558622,-0.8607795143270643],[0.14938315547568204,-0.8412234216522955]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[-0.16400111634186543,0.09841431957688318,0.71338606911949],"aabb_xy":[[-0.22800111276918736,0.05124469575478674],[-0.10000111991454355,0.14558394339897962]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.5203463738260732,-2.4852663882512998,0.71338606911949],"aabb_xy":[[-0.5613643172124441,-2.535266388882257],[-0.4793284304397023,-2.4352663876203424]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[-0.4080098895714304,-1.9154941348168704,0.71338606911949],"aabb_xy":[[-0.4630021402069414,-1.9704941365601834],[-0.3530176389359195,-1.8604941330735578]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[0.5873692576501393,-0.4553490299531817,0.71338606911949],"aabb_xy":[[0.5697364220566117,-0.47297197596880464],[0.6050020932436668,-0.4377260839375587]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.5390457349276778,-0.553030258411201,0.71338606911949],"aabb_xy":[[-0.5565457342057648,-0.570368358477547],[-0.5215457356495911,-0.5356921583448551]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.35637250307582197,-0.7021041427192167,0.71338606911949],"aabb_xy":[[-0.3754848104338008,-0.7212389215964587],[-0.33726019571784305,-0.6829693638419747]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.018966617556803178,1.0580408780999693,0.71338606911949],"aabb_xy":[[-0.053966615867498624,1.0503258631764236],[0.016033380753892264,1.065755893023515]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[0.582371052473164,-0.2800319139647449,0.71338606911949],"aabb_xy":[[0.502371049215321,-0.36002842175672883],[0.662371055731007,-0.2000354061727609]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.08352338758376587,1.590291055222448,0.71338606911949],"aabb_xy":[[-0.09230461473100213,1.5815113079339185],[-0.07474216043652968,1.599070802510979]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.5362260489236264,1.0385238341347662,0.71338606911949],"aabb_xy":[[0.45622605094284135,1.0309222931729143],[0.6162260469044114,1.0461253750966182]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[0.31906383147604567,0.8503939237820797,0.71338606911949],"aabb_xy":[[0.2940638319243072,0.840251439916945],[0.34406383102778415,0.8605364076472144]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[0.5931570725605766,-1.0444633789930475,0.71338606911949],"aabb_xy":[[0.5593815133698836,-1.0585018742062124],[0.6269326317512696,-1.0304248837798826]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[0.2584117297982219,-0.799462292742344,0.71338606911949],"aabb_xy":[[0.23591172955470652,-0.811666927402116],[0.2809117300417373,-0.7872576580825721]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[-0.568116611527032,1.651844739926847,0.71338606911949],"aabb_xy":[[-0.6181097236362239,1.6018447392526516],[-0.5181234994178401,1.7018447406010428]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6736481668214572,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3490.png","name":"3490"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3490.png","name":"3490"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8929.png","name":"8929"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1125.png","name":"1125"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9027.png","name":"9027"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5717.png","name":"5717"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":581.5143906853929,"rotation_z_degrees":305.82044959472694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007184183207147171,-0.004053265046036793,-0.00946248559279443]},{"name":"camera_2","offset_m":[0.006754556240912691,-0.019184820950809083,-0.004914299932382668]},{"name":"camera_3","offset_m":[0.007622229181762207,-0.012535101948993384,0.0030290375180345268]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001685376045861099,-0.0013335446951087517,0.0010410494213537783],"end_effector_yaw_offset_degrees":0.38866506359069497},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006301896149479846,-0.0008744890045594533,0.0005894374046288547],"end_effector_yaw_offset_degrees":-0.8318722374868319},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017228434247917876,0.0011413160158221425,0.0008016270961772134],"end_effector_yaw_offset_degrees":-0.5147497639239325}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002816772820491467,0.004869213429202401],"position_m":[0.2089832271795085,0.0286692134292024,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026233828001602667,0.0019014947517093277],"position_m":[0.2772233828001603,-0.3056985052482907,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004604985281726993,-0.0024272715641446463],"position_m":[0.15899501471827301,0.22317272843585534,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004251376370075986,-0.0018797884569893221],"position_m":[0.349448623629924,0.16632021154301066,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"646d0fdbd86bd3faa2f90fd14fb007bbc89944941a73ef97db0b54128103579a","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0048.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3490/tex_ceiling_textures_5717/tex_floor_textures_9027/tex_table_textures_8929/tex_wall_textures_1125","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":231726280298992963,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":231726280298992963,"visual_seed":231726280298992963,"scene_id":"lab_003","finished_at":"2026-09-04T15:55:47"} +{"episode_id":"ep_000049","started_at":"2026-09-04T15:55:51","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[-0.35716565089704366,-2.434804991457076,0.71338606911949],"aabb_xy":[[-0.40714860108452294,-2.484804991099636],[-0.30718270070956427,-2.3848049918145153]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[-0.10697442434041748,-1.8695585726210096,0.71338606911949],"aabb_xy":[[-0.11510211253373072,-1.8784721810317175],[-0.09884673614710428,-1.8606449642103025]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[-0.47924709505757745,1.0296881476430948,0.71338606911949],"aabb_xy":[[-0.5138381779116226,0.9646881473580636],[-0.44465601220353224,1.0946881479281256]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.43003450809982136,-1.3933138854988658,0.71338606911949],"aabb_xy":[[-0.4800345084603874,-1.4432938727084685],[-0.3800345077392553,-1.3433338982892626]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.36263867011633844,-1.7118980709880094,0.71338606911949],"aabb_xy":[[0.2986386682039961,-1.7678092202460198],[0.4266386720286808,-1.655986921729999]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.5571886068578776,-1.6845765599024625,0.71338606911949],"aabb_xy":[[-0.6271886084601571,-1.69800935310412],[-0.48718860525559815,-1.671143766700805]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[-0.4033277733158607,0.7042385594237373,0.71338606911949],"aabb_xy":[[-0.4933277700514708,0.6510550961064426],[-0.3133277765802504,0.7574220227410317]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[0.035903123991507524,-1.1484731472279681,0.71338606911949],"aabb_xy":[[-0.019096875630238312,-1.203456840015441],[0.09090312361325337,-1.0934894544404956]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[-0.14633151977716985,-0.8564274313476445,0.71338606911949],"aabb_xy":[[-0.15044746988924249,-0.86054298638049],[-0.14221556966509716,-0.8523118763147989]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[0.46009115572292747,-0.29786233811377594,0.71338606911949],"aabb_xy":[[0.4148125408417782,-0.3618623374619596],[0.5053697706040767,-0.23386233876559226]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.03679825796649849,-1.312530042889923,0.71338606911949],"aabb_xy":[[-0.0007017423256763244,-1.3165715182905264],[0.07429825825867331,-1.3084885674893194]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.13070317565863032,1.4999019711962283,0.71338606911949],"aabb_xy":[[0.12699991432949145,1.4961999528875103],[0.1344064369877692,1.5036039895049458]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[-0.014694097211588097,0.97978258939317,0.71338606911949],"aabb_xy":[[-0.09469409937435058,0.8998274057670262],[0.06530590495117439,1.0597377730193136]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[0.5076993886096255,-1.8802687910986695,0.71338606911949],"aabb_xy":[[0.4436993900230529,-1.9272757544981782],[0.5716993871961978,-1.8332618276991608]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.3592464294859817,0.3714586111601097,0.71338606911949],"aabb_xy":[[-0.39370890749906934,0.3647949339771868],[-0.3247839514728938,0.37812228834303246]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[-0.3182579841470494,-0.2723551849968793,0.71338606911949],"aabb_xy":[[-0.3222184679167838,-0.2800230495823999],[-0.31429750037731513,-0.2646873204113587]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[0.16906269990742262,-2.161281829725482,0.71338606911949],"aabb_xy":[[0.1427738755869819,-2.1875532633801327],[0.19535152422786323,-2.13501039607083]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[-0.36926308021475746,-0.10324128502553975,0.71338606911949],"aabb_xy":[[-0.4192473159229346,-0.15324128383903535],[-0.3192788445065802,-0.05324128621204417]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[0.25254161887992044,1.0784823627561142,0.71338606911949],"aabb_xy":[[0.19741641325032963,1.0184823613148268],[0.30766682450951116,1.1384823641974011]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.15570813532799388,1.10494412988459,0.71338606911949],"aabb_xy":[[-0.1727182326180445,1.0888096413863158],[-0.1386980380379432,1.1210786183828636]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.21604459865942016,-0.7577253744918679,0.71338606911949],"aabb_xy":[[-0.2658613781242549,-0.8077253729761713],[-0.1662278191945854,-0.7077253760075646]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.6815047571805273,-1.2399856354347056,0.71338606911949],"aabb_xy":[[0.6699357764335907,-1.2649856355516373],[0.6930737379274639,-1.214985635317774]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.1416033879809322,0.7257583349540244,0.71338606911949],"aabb_xy":[[0.12604761857066696,0.7102079017096173],[0.15715915739119748,0.7413087681984317]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[-0.5756733308756308,-2.137672870821911,0.71338606911949],"aabb_xy":[[-0.5975630784645715,-2.2276728681111595],[-0.5537835832866899,-2.0476728735326613]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_24","position":[-0.5768233406010492,-1.897978777061662,0.71338606911949],"aabb_xy":[[-0.6568233410712653,-1.9062894846760106],[-0.4968233401308334,-1.8896680694473136]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[-0.06858830975896824,1.5085598846095682,0.71338606911949],"aabb_xy":[[-0.10358830802908812,1.50148575691458],[-0.03358831148884832,1.5156340123045564]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[-0.022494438794693594,1.3725844483548766,0.71338606911949],"aabb_xy":[[-0.08649444201333145,1.3258613364558682],[0.04150556442394426,1.419307560253885]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_27","position":[-0.46793755955811955,-1.1588121106445661,0.71338606911949],"aabb_xy":[[-0.4743513732013044,-1.1652219308922342],[-0.4615237459149345,-1.1524022903968976]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[-0.24117199165157527,-1.394031761457272,0.71338606911949],"aabb_xy":[[-0.311171988061537,-1.4144696971089532],[-0.17117199524161342,-1.3735938258055898]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_29","position":[-0.45050391527410505,0.09798992016417074,0.71338606911949],"aabb_xy":[[-0.48550391446692326,0.0870228741665081],[-0.41550391608128673,0.10895696616183335]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_30","position":[-0.32639630937052067,-0.5140629905815808,0.71338606911949],"aabb_xy":[[-0.33082693872536084,-0.5195113623162634],[-0.3219656800156805,-0.5086146188468982]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_31","position":[0.18893055675666914,-1.9090732697392365,0.71338606911949],"aabb_xy":[[0.12393055565072583,-1.9340386428073648],[0.2539305578626124,-1.8841078966711082]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_32","position":[0.4974372825164781,-2.481771908780539,0.71338606911949],"aabb_xy":[[0.4745215696314283,-2.504676205916963],[0.520352995401528,-2.458867611644116]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_33","position":[-0.5430161173902784,1.6511436422564825,0.71338606911949],"aabb_xy":[[-0.6130161191990239,1.6297898734922955],[-0.473016115581533,1.6724974110206703]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_34","position":[0.007214007747820883,-0.7750818730364348,0.71338606911949],"aabb_xy":[[-0.052785992760032034,-0.831928606722356],[0.0672140082556738,-0.7182351393505134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718968962167047,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3597.png","name":"3597"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3597.png","name":"3597"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6230.png","name":"6230"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2320.png","name":"2320"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1728.png","name":"1728"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4006.png","name":"4006"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":502.0683649570777,"rotation_z_degrees":162.56239535208377,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019697884201102932,-0.0064976214299549365,0.01822312846326229]},{"name":"camera_2","offset_m":[-0.01319481763023914,0.010430978852663884,0.0102461902060824]},{"name":"camera_3","offset_m":[-0.01752796903628739,-0.018205138183784064,-0.012572742053586685]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00010418496371705516,0.001261488359739217,0.0011017996063753784],"end_effector_yaw_offset_degrees":-0.5289214387842132},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001515889499113159,-0.001897118320063286,-0.0005932623503785179],"end_effector_yaw_offset_degrees":0.6184923855500566},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011944252978006152,-0.0017013994822202218,0.0008575912525381657],"end_effector_yaw_offset_degrees":0.540731084180782}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00086878974054771,0.0015589573892157002],"position_m":[0.21093121025945227,0.025358957389215703,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014463153812378027,0.0034504317817102845],"position_m":[0.2760463153812378,-0.3041495682182897,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007734853164262888,0.0017115839761636022],"position_m":[0.1643734853164263,0.2273115839761636,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009277434724433735,-0.0012310337961952077],"position_m":[0.3527722565275566,0.16696896620380478,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fb797aa6fe2531874d73f7cdd94dc792564336a2a6d75e8bbdbd8f3feb4835ac","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0049.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3597/tex_ceiling_textures_4006/tex_floor_textures_1728/tex_table_textures_6230/tex_wall_textures_2320","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2750335800320610769,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2750335800320610769,"visual_seed":2750335800320610769,"scene_id":"lab_003","finished_at":"2026-09-04T15:58:29"} +{"episode_id":"ep_000050","started_at":"2026-09-04T15:58:32","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[0.2807252096729367,-1.9332615122852397,0.71338606911949],"aabb_xy":[[0.2307252093123706,-1.9832414994948424],[0.3307252100335027,-1.8832815250756365]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[-0.6487503902880537,-0.9647283300224305,0.71338606911949],"aabb_xy":[[-0.6528663404001261,-0.9688438850552759],[-0.6446344401759808,-0.9606127749895848]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[-0.23949589652866804,-0.4109984775365625,0.71338606911949],"aabb_xy":[[-0.2894788467161473,-0.4609984771791228],[-0.18951294634118868,-0.36099847789400197]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.4375800791113925,0.6155768191166313,0.71338606911949],"aabb_xy":[[-0.4675476360212182,0.5855768188187456],[-0.40761252220156685,0.6455768194145171]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[0.400438361428348,-1.0834337134869108,0.71338606911949],"aabb_xy":[[0.37521752456850826,-1.108657464339797],[0.4256591982881876,-1.0582099626340236]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[-0.22118238700447657,-1.0008084126616432,0.71338606911949],"aabb_xy":[[-0.23174986666257558,-1.0113534427746518],[-0.21061490734637756,-0.9902633825486347]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.029344736031610696,-0.979314399389307,0.71338606911949],"aabb_xy":[[-0.06065526630240836,-1.0567967539744196],[0.11934473836562975,-0.9018320448041943]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[-0.4186147063414601,1.2788289155334511,0.71338606911949],"aabb_xy":[[-0.44312833043846594,1.2545643222314145],[-0.3941010822444542,1.3030935088354874]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[0.3749333627187421,-0.5818650839926267,0.71338606911949],"aabb_xy":[[0.32493835175929014,-0.6318650830282184],[0.42492837367819425,-0.531865084957035]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.5476704869982683,1.3730810996896419,0.71338606911949],"aabb_xy":[[0.5301705535642849,1.3555810997694073],[0.5651704204322516,1.3905810996098764]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[0.40840605052864465,0.4275143800955541,0.71338606911949],"aabb_xy":[[0.37137194110058486,0.39313717276184457],[0.44544015995670433,0.4618915874292635]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.03406132959148456,1.2804576855012484,0.71338606911949],"aabb_xy":[[-0.10406132600144632,1.2600197498495662],[0.03593866681847724,1.3008956211529297]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.07436022896729555,-2.353459678038507,0.71338606911949],"aabb_xy":[[0.010360227559304878,-2.405248629562432],[0.1383602303752862,-2.3016707265145824]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.4504011807334706,1.1383070966603732,0.71338606911949],"aabb_xy":[[-0.47540118000543286,1.1219617330642107],[-0.4254011814615083,1.1546524602565353]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[-0.6078062278314985,-0.1700318242939094,0.71338606911949],"aabb_xy":[[-0.6628062260332432,-0.21055379092034696],[-0.5528062296297536,-0.12950985766747178]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.3594569368426576,0.26219271139219646,0.71338606911949],"aabb_xy":[[-0.38195693735469816,0.23970085302679806],[-0.33695693633061696,0.28468456975759476]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[0.31576324850679227,-0.8687500568958364,0.71338606911949],"aabb_xy":[[0.25176324992021987,-0.915757020295345],[0.3797632470933648,-0.8217430934963276]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[0.5674510858650075,1.7678983003176758,0.71338606911949],"aabb_xy":[[0.5339719186039665,1.734419186946569],[0.6009302531260484,1.801377413688783]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[0.4633308636033395,-1.5676391502208749,0.71338606911949],"aabb_xy":[[0.4462287856449713,-1.5847459557521448],[0.4804329415617076,-1.5505323446896053]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.4025094005857841,-2.3706047323695008,0.71338606911949],"aabb_xy":[[0.33850940330013546,-2.4121114513223447],[0.46650939787143275,-2.329098013416657]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.4311353755315188,1.1660843908407612,0.71338606911949],"aabb_xy":[[0.39998845668793565,1.096084392153954],[0.4622822943751019,1.2360843895275684]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.40766549460557316,-1.4671189786566912,0.71338606911949],"aabb_xy":[[-0.47266549463987584,-1.5138196553370185],[-0.3426654945712704,-1.4204183019763639]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.11141825924520499,-1.3389233237993048,0.71338606911949],"aabb_xy":[[0.08891825943130262,-1.3433979401697855],[0.13391825905910737,-1.334448707428824]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[0.5970564018739852,0.7309800069628549,0.71338606911949],"aabb_xy":[[0.547056403228064,0.6810604633033925],[0.6470564005199064,0.7808995506223173]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[0.6165411236284355,-2.140715823806951,0.71338606911949],"aabb_xy":[[0.598865493039837,-2.158396040086353],[0.6342167542170337,-2.1230356075275476]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.6376619806520868,0.43018515712640104,0.71338606911949],"aabb_xy":[[-0.6626619798177199,0.4232329114210444],[-0.6126619814864537,0.43713740283175756]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[0.5484379938535762,-1.4794717662502037,0.71338606911949],"aabb_xy":[[0.5419363573455716,-1.4892395882765135],[0.5549396303615808,-1.469703944223894]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[-0.03846825722068581,0.2560419868370545,0.71338606911949],"aabb_xy":[[-0.05357055868170389,0.24094046520599258],[-0.0233659557596677,0.2711435084681162]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_28","position":[0.14170031037123754,1.5749707399655883,0.71338606911949],"aabb_xy":[[0.1336639756699527,1.5669326206611713],[0.14973664507252238,1.583008859270005]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_29","position":[-0.03638130225854608,1.0423481570762583,0.71338606911949],"aabb_xy":[[-0.11638130253215306,0.9693986092505414],[0.043618698015060894,1.1152977049019748]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_30","position":[0.6415114490726226,-0.002428298283700947,0.71338606911949],"aabb_xy":[[0.6301497144193363,-0.013796764689989027],[0.6528731837259086,0.008940168122587133]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6768769595290375,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4902.png","name":"4902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4902.png","name":"4902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6475.png","name":"6475"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4995.png","name":"4995"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/811.png","name":"811"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9745.png","name":"9745"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":673.65458196499,"rotation_z_degrees":52.18980614198854,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0035064077513784764,-0.012903159445550424,-0.0006398246209843028]},{"name":"camera_2","offset_m":[-0.017121316514041775,0.013040655109707696,-0.019042940116651922]},{"name":"camera_3","offset_m":[-0.0012128737767996695,0.001547106870188785,0.016108796619408106]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001945239852939623,0.0008906864012996479,0.000440821122156682],"end_effector_yaw_offset_degrees":0.03933078298102455},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010511847958882955,-0.0006755702767741768,0.00014095671174809126],"end_effector_yaw_offset_degrees":0.43543103390640336},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001708551889733961,-0.0006010950272780904,-0.0014836510904166849],"end_effector_yaw_offset_degrees":-0.26666871045899176}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004147205371158656,0.004667265901568408],"position_m":[0.21594720537115863,0.02846726590156841,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035660123749384444,-0.0033332296057033794],"position_m":[0.27816601237493843,-0.31093322960570335,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037559288941590874,-0.0037153743428827014],"position_m":[0.1598440711058409,0.2218846256571173,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001940676730091736,-0.0024051768833896437],"position_m":[0.3538940676730092,0.16579482311661034,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0b8e04b4f00603e2e55a8b4690a00d47535b18d843d110e5e1af8cfd294a2159","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0050.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4902/tex_ceiling_textures_9745/tex_floor_textures_811/tex_table_textures_6475/tex_wall_textures_4995","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":9084857815549069864,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":9084857815549069864,"visual_seed":9084857815549069864,"scene_id":"lab_003","finished_at":"2026-09-04T16:01:11"} +{"episode_id":"ep_000051","started_at":"2026-09-04T16:01:14","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.1458172055700686,-1.3465063693178878,0.71338606911949],"aabb_xy":[[-0.1590481511047499,-1.359733788339887],[-0.13258626003538732,-1.3332789502958882]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.6525456647204491,-0.7132864068653268,0.71338606911949],"aabb_xy":[[0.6064605734657175,-0.777286404117882],[0.6986307559751804,-0.6492864096127717]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.42393005777308024,-1.12428904200689,0.71338606911949],"aabb_xy":[[0.34393005730286436,-1.1325997496212385],[0.5039300582432963,-1.115978334392542]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.2188530384713675,-2.349763104370124,0.71338606911949],"aabb_xy":[[-0.28285303917483684,-2.3957814868430454],[-0.15485303776789816,-2.3037447218972034]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.6522800083730447,-1.6563818429589445,0.71338606911949],"aabb_xy":[[0.6022851754451031,-1.706381841854188],[0.7022748413009863,-1.606381844063701]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.43796646247020865,-2.248859114046845,0.71338606911949],"aabb_xy":[[0.4278847553916352,-2.328859111938959],[0.4480481695487821,-2.1688591161547297]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.4623507175925753,-0.013291530294687437,0.71338606911949],"aabb_xy":[[-0.532350714002537,-0.03372946594636915],[-0.3923507211826134,0.007146405356994292]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.47289564364034375,1.1776665713637389,0.71338606911949],"aabb_xy":[[0.43843329624220184,1.1431726889659157],[0.5073579910384853,1.2121604537615611]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[-0.375889175772523,-0.46388687419884844,0.71338606911949],"aabb_xy":[[-0.4258622413050385,-0.5138868740113813],[-0.32591611024000755,-0.4138868743863156]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[-0.5817121163683966,-1.5455686173011778,0.71338606911949],"aabb_xy":[[-0.5945840198693366,-1.6255686177150142],[-0.5688402128674563,-1.4655686168873419]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[-0.152284939099672,1.0302189517171811,0.71338606911949],"aabb_xy":[[-0.21628494101201437,0.9743078024591709],[-0.08828493718732969,1.0861301009751918]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[0.20242067410076392,-1.3312439587978593,0.71338606911949],"aabb_xy":[[0.17742067493513078,-1.3381962045032159],[0.227420673266397,-1.3242917130925027]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.2122508295782185,1.6470236194297923,0.71338606911949],"aabb_xy":[[-0.2372508295107364,1.6401409512088692],[-0.1872508296457006,1.6539062876507158]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[0.25116579855216015,-2.0315527799672246,0.71338606911949],"aabb_xy":[[0.21383452202691758,-2.066205834762077],[0.2884970750774028,-1.9968997251723724]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.6150834638290232,0.14216179018972008,0.71338606911949],"aabb_xy":[[-0.6232980089447071,0.13348519989207874],[-0.6068689187133391,0.1508383804873613]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[0.5083064705096563,0.3157330447327591,0.71338606911949],"aabb_xy":[[0.4443064713398864,0.2689663576137966],[0.5723064696794262,0.3624997318517216]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.3553747246630943,0.9619673484761457,0.71338606911949],"aabb_xy":[[0.35125877455102156,0.9578517934433001],[0.3594906747751669,0.9660829035089912]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[0.3200970712706279,-1.2182248036588443,0.71338606911949],"aabb_xy":[[0.2825970707732697,-1.2221934872069629],[0.35759707176798616,-1.2142561201107263]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[0.477692246192136,-0.8630971985139626,0.71338606911949],"aabb_xy":[[0.4526922469201737,-0.8794425621101251],[0.5026922454640982,-0.8467518349178004]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[-0.3536869167062236,-1.3188290229624855,0.71338606911949],"aabb_xy":[[-0.39587133086705434,-1.382829023239697],[-0.31150250254539286,-1.2548290226852745]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[0.47191824874648214,-1.0560153061689102,0.71338606911949],"aabb_xy":[[0.46311619343750937,-1.063826632323839],[0.4807203040554548,-1.0482039800139809]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[-0.36963524871408887,-2.152389435164043,0.71338606911949],"aabb_xy":[[-0.4108840597440035,-2.20738943467626],[-0.328386437684174,-2.097389435651825]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_22","position":[0.6294257274480912,-2.3984210573202187,0.71338606911949],"aabb_xy":[[0.6119257272030417,-2.415920845159785],[0.6469257276931405,-2.3809212694806514]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[0.5815253224997385,1.323773857015416,0.71338606911949],"aabb_xy":[[0.5696532394882374,1.2387738573217657],[0.5933974055112397,1.4087738567090664]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[0.6255141180207611,-2.1105429253204613,0.71338606911949],"aabb_xy":[[0.6052298152973622,-2.1308255504631695],[0.6457984207441597,-2.090260300177752]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_25","position":[0.3781188453114912,-1.483382686003979,0.71338606911949],"aabb_xy":[[0.3606189118775078,-1.5008826859242133],[0.3956187787454745,-1.4658826860837442]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_26","position":[-0.15126338288338936,0.7335105893697924,0.71338606911949],"aabb_xy":[[-0.18876338317556415,0.7294691139691887],[-0.11376338259121452,0.7375520647703959]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_27","position":[-0.29233203710213973,-1.6708176495400282,0.71338606911949],"aabb_xy":[[-0.35233203735354085,-1.7250989745764926],[-0.2323320368507385,-1.6165363245035633]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6713649284446221,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3407.png","name":"3407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3407.png","name":"3407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4132.png","name":"4132"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/11.png","name":"11"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6686.png","name":"6686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4276.png","name":"4276"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":783.4788935288655,"rotation_z_degrees":190.6692264751877,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007015515047386102,-0.019938966983795575,-0.0030251112133944727]},{"name":"camera_2","offset_m":[0.0007773843665829124,-0.0020153045619901062,0.013972837944863679]},{"name":"camera_3","offset_m":[0.01954158425395368,0.005473839048109469,-0.007716901382036711]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00106685667744636,-0.00176767608154127,-0.00041470218509219057],"end_effector_yaw_offset_degrees":0.6332812112960062},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018606594373237525,0.0006930367007130693,-0.0009131751449979811],"end_effector_yaw_offset_degrees":-0.709241376863653},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002764116982320176,0.0005500065048893738,-0.0010666139559808467],"end_effector_yaw_offset_degrees":-0.10004582005796414}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004600972072596824,0.0014378489399361925],"position_m":[0.20719902792740316,0.025237848939936195,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017155876854968435,-0.0015455523796706395],"position_m":[0.27288441231450317,-0.3091455523796706,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010743220027713387,-0.003847208384768216],"position_m":[0.16467432200277132,0.2217527916152318,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028638388392411276,-0.0029247350750348958],"position_m":[0.35656383883924114,0.16527526492496508,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1dcc3239dc27af8e81d695e244966a20352c2c50f6ee534bda6808bb4fc7d3aa","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0051.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3407/tex_ceiling_textures_4276/tex_floor_textures_6686/tex_table_textures_4132/tex_wall_textures_11","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3783476982234819587,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3783476982234819587,"visual_seed":3783476982234819587,"scene_id":"lab_003","finished_at":"2026-09-04T16:03:48"} +{"episode_id":"ep_000052","started_at":"2026-09-04T16:03:51","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.3903411914051651,0.9532924248938683,0.71338606911949],"aabb_xy":[[-0.42465746857978304,0.9032924249206905],[-0.35602491423054716,1.003292424867046]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.4123120224997536,1.4891450176293923,0.71338606911949],"aabb_xy":[[-0.4544964366605844,1.4251450173521811],[-0.37012760833892294,1.5531450179066035]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.017194040900325502,1.1400089139384382,0.71338606911949],"aabb_xy":[[-0.0006750668541299909,1.1261760059612271],[0.035063148654780996,1.1538418219156492]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[-0.3153427846625842,0.4708278347834538,0.71338606911949],"aabb_xy":[[-0.36531607866584465,0.42082783422890635],[-0.26536949065932375,0.520827835338001]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[0.5880097267218423,-2.0690944192185547,0.71338606911949],"aabb_xy":[[0.5691253429533321,-2.0879803439989075],[0.6068941104903525,-2.050208494438202]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.6188471570662404,1.4327958231929858,0.71338606911949],"aabb_xy":[[0.6154064808261832,1.4289343902186216],[0.6222878333062976,1.4366572561673505]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[-0.23288605913305072,-1.4342642708020537,0.71338606911949],"aabb_xy":[[-0.29788605769012355,-1.4640168042159363],[-0.16788606057597785,-1.404511737388171]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[0.18457268020542583,1.4941897215694016,0.71338606911949],"aabb_xy":[[0.09457268078705494,1.4608142247252116],[0.2745726796237967,1.527565218413591]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.617211325369156,-2.3498717249349332,0.71338606911949],"aabb_xy":[[0.5522113274875082,-2.400995388641474],[0.6822113232508038,-2.2987480612283924]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.050858389149285754,-2.3805817765025528,0.71338606911949],"aabb_xy":[[-0.08125650024842934,-2.4109886785042223],[-0.02046027805014217,-2.3501748745008832]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[-0.2982489943694321,-1.197965914475547,0.71338606911949],"aabb_xy":[[-0.31335129583045007,-1.2130674361066083],[-0.2831466929084139,-1.1828643928444849]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.041314157668608686,1.6828439648482818,0.71338606911949],"aabb_xy":[[-0.06381415818064928,1.6603521064828834],[-0.01881415715656809,1.7053358232136802]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.2940595627585113,1.3622115509089423,0.71338606911949],"aabb_xy":[[-0.30381555226768514,1.3524490168497076],[-0.28430357324933736,1.3719740849681765]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.48666574670628004,-0.19398905801294886,0.71338606911949],"aabb_xy":[[-0.5766657432071518,-0.23990070043140707],[-0.3966657502054083,-0.14807741559449059]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.1032843850980183,0.8244808797947405,0.71338606911949],"aabb_xy":[[0.03928438275521672,0.779540028550608],[0.16728438744081983,0.869421731038873]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[-0.19596350906534238,-0.26232323645869426,0.71338606911949],"aabb_xy":[[-0.2091147550366318,-0.28732323621538086],[-0.18281226309405305,-0.23732323670200778]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[0.06317850139799963,-0.6597072063777616,0.71338606911949],"aabb_xy":[[0.008178503196254792,-0.7002291730041992],[0.11817849959974445,-0.619185239751324]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.5742860412145098,-2.2280772896694976,0.71338606911949],"aabb_xy":[[-0.5967851769407367,-2.250577290447761],[-0.5517869054882828,-2.2055772888912344]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[0.63047649716406,-0.2977081152410195,0.71338606911949],"aabb_xy":[[0.5804772219956238,-0.34770811651696665],[0.6804757723324961,-0.2477081139650723]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[-0.03332494333265046,1.4632447610904467,0.71338606911949],"aabb_xy":[[-0.09732064072774704,1.399244762789738],[0.030670754062446133,1.5272447593911553]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.3836622097364282,0.7024864984260737,0.71338606911949],"aabb_xy":[[0.3491997317233404,0.6958228212431508],[0.41812468774951594,0.7091501756089964]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.377996030900452,-1.9418927040563654,0.71338606911949],"aabb_xy":[[0.32801722239013603,-1.9918927040620837],[0.4279748394107678,-1.8918927040506461]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[-0.044981215968030175,-0.640914349776057,0.71338606911949],"aabb_xy":[[-0.05202266691877777,-0.6479411015138516],[-0.03793976501728258,-0.6338875980382626]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.37982095274729577,-0.900975437290439,0.71338606911949],"aabb_xy":[[0.37568509641459563,-0.938475436734796],[0.383956809079996,-0.863475437846082]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_24","position":[0.09119370048141995,-1.2380956496640196,0.71338606911949],"aabb_xy":[[0.02719369856907762,-1.29400679892203],[0.1551937023937623,-1.1821845004060092]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[-0.13353486648383106,-1.2175172724242167,0.71338606911949],"aabb_xy":[[-0.1447799220544489,-1.2287590701483118],[-0.12228981091321323,-1.2062754747001212]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[-0.4282050068851403,-1.449636482208572,0.71338606911949],"aabb_xy":[[-0.513205005577215,-1.481622345603451],[-0.3432050081930657,-1.4176506188136933]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_27","position":[-0.3419104080191875,-1.2938715490767538,0.71338606911949],"aabb_xy":[[-0.41191041141074947,-1.3291873227801847],[-0.2719104046276255,-1.258555775373323]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_28","position":[-0.5921800257935883,1.5241553686595153,0.71338606911949],"aabb_xy":[[-0.6030205040201032,1.5069690873688664],[-0.5813395475670734,1.5413416499501638]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_29","position":[0.6514482268714179,-1.6630099752464735,0.71338606911949],"aabb_xy":[[0.6086815199919978,-1.727009978668276],[0.6942149337508382,-1.599009971824671]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_30","position":[-0.48833042113310865,-0.8723185435327141,0.71338606911949],"aabb_xy":[[-0.5112461340181587,-0.8952228406691378],[-0.4654147082480588,-0.8494142463962908]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_31","position":[0.5076245704996967,-0.003089987940789296,0.71338606911949],"aabb_xy":[[0.42763074692113845,-0.08308999053363086],[0.5876183940782549,0.07691001465205227]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_32","position":[-0.23758522760232836,1.4901704827656412,0.71338606911949],"aabb_xy":[[-0.2725852275788242,1.4807058667180248],[-0.20258522762583256,1.499635098813258]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_33","position":[0.05952001596257528,-1.0155153552921001,0.71338606911949],"aabb_xy":[[0.037611333823224236,-1.0374160221121909],[0.08142869810192632,-0.9936146884720094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6770205135626586,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8668.png","name":"8668"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8668.png","name":"8668"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3765.png","name":"3765"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1974.png","name":"1974"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3688.png","name":"3688"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8379.png","name":"8379"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":829.3895234253971,"rotation_z_degrees":351.94410803553296,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019603982707573464,0.01814191086978233,0.0017579757390908252]},{"name":"camera_2","offset_m":[0.01950373013916436,0.011333692880511313,0.004520031739025189]},{"name":"camera_3","offset_m":[-0.0034291890469533605,-0.016139629923551918,0.007417569083271392]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014703971942630414,0.0013500410168196353,0.0018562322575707041],"end_effector_yaw_offset_degrees":-0.7507270009287272},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010595074515872948,-0.0013377328295490556,0.0006188796050556901],"end_effector_yaw_offset_degrees":0.4229920387678463},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014245231869485114,0.0008264983165530079,0.001412226514110551],"end_effector_yaw_offset_degrees":-0.7819003209509556}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002726523156830284,-0.0036798980723567985],"position_m":[0.2090734768431697,0.020120101927643203,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004321409905565427,-0.0021820880031365266],"position_m":[0.27892140990556546,-0.3097820880031365,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00044029868026844356,0.001522435800086007],"position_m":[0.16404029868026843,0.227122435800086,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002764982624921596,-0.0013883338066208563],"position_m":[0.35093501737507843,0.16681166619337914,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"47a962a4f31ccbf1c5ac28a441152046bd9e62981500fac7c9b555ae7899aed7","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8668/tex_ceiling_textures_8379/tex_floor_textures_3688/tex_table_textures_3765/tex_wall_textures_1974","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2998970998315804217,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2998970998315804217,"visual_seed":2998970998315804217,"scene_id":"lab_003","finished_at":"2026-09-04T16:06:23"} +{"episode_id":"ep_000053","started_at":"2026-09-04T16:06:26","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.5372711650413557,0.1335048828569203,0.71338606911949],"aabb_xy":[[-0.5922448870776886,0.07850488329268712],[-0.48229744300502286,0.18850488242115349]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.17630644026380649,1.0310902721328614,0.71338606911949],"aabb_xy":[[-0.2264039042448801,0.9670902716230496],[-0.12620897628273287,1.0950902726426732]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[-0.1519608519592004,1.733304772583581,0.71338606911949],"aabb_xy":[[-0.17442562193060548,1.7108047717047208],[-0.12949608198779525,1.7558047734624418]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.07940763504848969,-0.9729200646966205,0.71338606911949],"aabb_xy":[[0.06385186563822444,-0.9884704979410278],[0.09496340445875498,-0.9573696314522134]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.6108800811561532,1.7782428673677102,0.71338606911949],"aabb_xy":[[-0.6287491889106087,1.7644099593904992],[-0.5930109734016977,1.7920757753449212]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[-0.3269129941231514,-0.2528859188540382,0.71338606911949],"aabb_xy":[[-0.39091299603549373,-0.30879706811204866],[-0.26291299221080905,-0.19697476959602778]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[0.20743693590312096,-1.4893458656142837,0.71338606911949],"aabb_xy":[[0.19728392034897152,-1.5254154071870236],[0.21758995145727028,-1.4532763240415432]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.06178368520662458,0.6766448101853997,0.71338606911949],"aabb_xy":[[0.02445240868138196,0.6419917553905474],[0.09911496173186721,0.7112978649802519]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[0.5323367961504011,1.2910263940932518,0.71338606911949],"aabb_xy":[[0.5171739231734641,1.2758609367981333],[0.5474996691273383,1.3061918513883708]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.0017817661970991328,-0.7506736926042836,0.71338606911949],"aabb_xy":[[-0.007363437831227892,-0.7631736924220591],[0.0037999054370296266,-0.7381736927865081]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.21415931835403645,1.0243097528491223,0.71338606911949],"aabb_xy":[[0.15415931775802025,0.969497280303899],[0.27415931895005263,1.079122225394346]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.04197264072583684,-1.1987406783824153,0.71338606911949],"aabb_xy":[[-0.07788614515082651,-1.2346541865991698],[-0.0060591363008471524,-1.1628271701656607]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[0.4580726633340475,0.3207071005712452,0.71338606911949],"aabb_xy":[[0.37807266631979947,0.3005725488978339],[0.5380726603482955,0.34084165224465646]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[0.2696167681937358,1.2307375747731206,0.71338606911949],"aabb_xy":[[0.2587109921061731,1.1507375783742915],[0.2805225442812985,1.3107375711719498]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[0.3088421117571478,-1.8140173181488288,0.71338606911949],"aabb_xy":[[0.23884211015486834,-1.8274501113504864],[0.3788421133594273,-1.8005845249471712]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[-0.012335067566077829,1.6246443059090852,0.71338606911949],"aabb_xy":[[-0.02666949269224128,1.6125840903545463],[0.0019993575600856257,1.636704521463624]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[0.4912157889098352,-2.072110017864689,0.71338606911949],"aabb_xy":[[0.44121579026391405,-2.1220295615241516],[0.5412157875557564,-2.022190474205227]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[-0.5522447463086411,-0.8547776371105256,0.71338606911949],"aabb_xy":[[-0.6172447473091416,-0.9055640022652004],[-0.48724474530814055,-0.8039912719558505]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[-0.5816923450421582,-2.4706288094176383,0.71338606911949],"aabb_xy":[[-0.5858282013748585,-2.5081288088619953],[-0.5775564887094581,-2.4331288099732813]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.38981544429198056,0.7721978568678289,0.71338606911949],"aabb_xy":[[-0.4311199873557165,0.7081978572997117],[-0.3485109012282445,0.8361978564359459]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.281692960429483,-2.1411236939669283,0.71338606911949],"aabb_xy":[[0.23169368526104683,-2.1911236952428754],[0.33169223559791916,-2.091123692690981]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.4237923833186676,-1.7968830029855274,0.71338606911949],"aabb_xy":[[-0.42912489797328063,-1.8022073312307632],[-0.41845986866405466,-1.791558674740292]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[-0.6100641468564119,-1.9572891885357147,0.71338606911949],"aabb_xy":[[-0.6740641441587583,-2.001655615503571],[-0.5460641495540655,-1.9129227615678577]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[0.2930416669757635,0.7210214849518164,0.71338606911949],"aabb_xy":[[0.27524816004084707,0.7032217393560186],[0.31083517391067994,0.738821230547614]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[0.5601163459038485,-1.6719022918979711,0.71338606911949],"aabb_xy":[[0.5365312224399537,-1.736902294143403],[0.5837014693677434,-1.6069022896525393]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_25","position":[0.4234416962395213,0.761156020194834,0.71338606911949],"aabb_xy":[[0.3594416948315306,0.7093670686709094],[0.48744169764751194,0.8129449717187588]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[-0.032453228345633134,-2.10981062301544,0.71338606911949],"aabb_xy":[[-0.11745322703770777,-2.141796486410319],[0.05254677034644151,-2.0778247596205612]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.4469825949274516,1.6597000334467178,0.71338606911949],"aabb_xy":[[-0.5109825956309211,1.613681650973797],[-0.3829825942239824,1.705718415919639]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_28","position":[-0.2475536615195595,-0.7567622893134711,0.71338606911949],"aabb_xy":[[-0.26272583080119283,-0.7719311462416745],[-0.23238149223792617,-0.7415934323852678]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.677587293905827,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3455.png","name":"3455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3455.png","name":"3455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5067.png","name":"5067"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8991.png","name":"8991"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5428.png","name":"5428"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7801.png","name":"7801"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":599.8060104007054,"rotation_z_degrees":209.24431745079318,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011744526236256402,0.015608330088366377,0.004526302381829404]},{"name":"camera_2","offset_m":[0.0014786428440933912,-0.002421486381339301,0.017805389909390738]},{"name":"camera_3","offset_m":[-0.0011636415226824667,-0.01524950028542538,-0.019805662831727865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006542551835003868,0.0007668464499058572,0.0007466688915480834],"end_effector_yaw_offset_degrees":-0.6457167449585017},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012499228675232664,-0.0004175125470694545,-0.0019471632959443368],"end_effector_yaw_offset_degrees":-0.31465984563842575},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016730637195444694,0.0003344008749758564,4.560649902588584e-05],"end_effector_yaw_offset_degrees":0.8711005912816754}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021644513460386994,0.003532218578297102],"position_m":[0.20963554865396128,0.027332218578297103,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004561592489980461,-0.002953480637701321],"position_m":[0.27916159248998046,-0.31055348063770133,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0034195777524254466,0.0031764369100552485],"position_m":[0.16018042224757456,0.22877643691005525,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003610625428248619,-0.001973752584015068],"position_m":[0.35731062542824865,0.1662262474159849,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"79ff62a2042bf8233fe4f3c0da048bd5198a524d2dd7e50c7ea8c632087ef7c2","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3455/tex_ceiling_textures_7801/tex_floor_textures_5428/tex_table_textures_5067/tex_wall_textures_8991","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":253267635900201170,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":253267635900201170,"visual_seed":253267635900201170,"scene_id":"lab_003","finished_at":"2026-09-04T16:08:40"} +{"episode_id":"ep_000054","started_at":"2026-09-04T16:08:43","dimensions":{"distractor":{"count":34,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[-0.023215274459848723,0.7130160295892312,0.71338606911949],"aabb_xy":[[-0.0325088926969993,0.6755160311010973],[-0.013921656222698139,0.7505160280773651]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.653409426148122,-0.18797363335953987,0.71338606911949],"aabb_xy":[[0.6309094261379737,-0.20206985299914315],[0.6759094261582703,-0.1738774137199366]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[-0.5298864184875682,-0.2862989002553684,0.71338606911949],"aabb_xy":[[-0.589886418995421,-0.3431456339412896],[-0.46988641797971525,-0.22945216656944703]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[-0.42838894820270706,-0.9994679789407421,0.71338606911949],"aabb_xy":[[-0.45029763034205805,-1.021368645760833],[-0.40648026606335597,-0.9775673121206515]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[-0.24542217829521784,0.11396529774891251,0.71338606911949],"aabb_xy":[[-0.29542217773541346,0.06399737326459619],[-0.19542217885502222,0.16393322223322881]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.2547691645865756,-2.1897999045342376,0.71338606911949],"aabb_xy":[[0.21726916379458017,-2.1961677454924278],[0.29226916537857106,-2.1834320635760474]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.49664059360024615,-2.1728766248154283,0.71338606911949],"aabb_xy":[[-0.5038843596464915,-2.2528766230190307],[-0.4893968275540008,-2.092876626611826]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[-0.47402362765795597,1.1591163984980826,0.71338606911949],"aabb_xy":[[-0.5390236286150831,1.1071681865643768],[-0.40902362670082876,1.211064610431788]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.21762300012728825,-1.1596235185888513,0.71338606911949],"aabb_xy":[[-0.24012213585351522,-1.1821235193671142],[-0.19512386440106128,-1.1371235178105883]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.5209929114786676,-0.822795851715888,0.71338606911949],"aabb_xy":[[-0.6009929084929155,-0.8429304033892993],[-0.44099291446441957,-0.8026613000424767]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.0974159378656948,0.5081573015130831,0.71338606911949],"aabb_xy":[[-0.1614159342930167,0.4609876776909868],[-0.0334159414383729,0.5553269253351797]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.1503637355107048,-0.7923924472537589,0.71338606911949],"aabb_xy":[[0.14503122085609182,-0.7977167754989946],[0.1556962501653178,-0.7870681190085235]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.03160438750570749,-2.533828618511397,0.71338606911949],"aabb_xy":[[-0.08158733769318681,-2.583828618153957],[0.018378562681771845,-2.483828618868836]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.11766886370201879,1.4877450706961386,0.71338606911949],"aabb_xy":[[0.05367316630692219,1.4237450723954297],[0.18166456109711537,1.551745068996847]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.14816283115918227,-2.240309481885652,0.71338606911949],"aabb_xy":[[-0.22816283258930947,-2.3198266368982616],[-0.06816282972905507,-2.1607923268730427]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[0.6155687543961639,-2.5210970314863137,0.71338606911949],"aabb_xy":[[0.596456447038185,-2.5402318103635557],[0.6346810617541427,-2.5019622526090717]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.49157819561568616,0.9506877996570489,0.71338606911949],"aabb_xy":[[-0.5227251144592693,0.8806878009702416],[-0.460431276772103,1.020687798343856]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[-0.6210841813706597,-1.2949956185249896,0.71338606911949],"aabb_xy":[[-0.6710684170788368,-1.3449956173384852],[-0.5710999456624823,-1.244995619711494]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[0.19973912167204444,1.6506702785027847,0.71338606911949],"aabb_xy":[[0.149765827668784,1.600670277948237],[0.2497124156753049,1.7006702790573316]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_19","position":[0.6462125449234575,1.3088240037158148,0.71338606911949],"aabb_xy":[[0.6333406414225172,1.2288240033019784],[0.6590844484243975,1.3888240041296507]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[0.2340785413940012,-1.7685852487831264,0.71338606911949],"aabb_xy":[[0.17007853971600384,-1.8171026402624404],[0.29807854307199855,-1.720067857303812]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[-0.10068613535785242,1.3296297753828377,0.71338606911949],"aabb_xy":[[-0.15567934669498917,1.274629775044044],[-0.04569292402071567,1.3846297757216313]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[0.07223804778292253,-2.1473319694201582,0.71338606911949],"aabb_xy":[[0.06815988987587279,-2.1514129496684213],[0.07631620568997227,-2.1432509891718943]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[0.4623128925601929,1.0957283518409007,0.71338606911949],"aabb_xy":[[0.39831289397362046,1.0487213884413917],[0.5263128911467654,1.1427353152404092]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[0.6413301158659466,-2.3582703967605303,0.71338606911949],"aabb_xy":[[0.6048342952386677,-2.394754339187288],[0.6778259364932252,-2.3217864543337727]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[0.5528957024888761,-0.4177530489750647,0.71338606911949],"aabb_xy":[[0.48889569927023824,-0.46447616087407306],[0.616895705707514,-0.37102993707605636]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[-0.0025558656092936616,-1.899482423425387,0.71338606911949],"aabb_xy":[[-0.017718738586230746,-1.9146478807205063],[0.012607007367643423,-1.8843169661302688]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_27","position":[-0.2694727305639859,0.447581806408325,0.71338606911949],"aabb_xy":[[-0.2768851861053744,0.44173059598669706],[-0.26206027502259743,0.45343301682995296]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_28","position":[0.4250612423571709,1.7127715253273919,0.71338606911949],"aabb_xy":[[0.37524446289233615,1.662771526843088],[0.47487802182200567,1.7627715238116948]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_29","position":[-0.09630719305861501,-1.0216716169487965,0.71338606911949],"aabb_xy":[[-0.14628025859113047,-1.0716716167613294],[-0.04633412752609955,-0.9716716171362636]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_30","position":[0.2500176021965198,-1.2598926302568982,0.71338606911949],"aabb_xy":[[0.21501760300370149,-1.2708596762545608],[0.285017601389338,-1.2489255842592353]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_31","position":[-0.540641173556734,-1.5035383762252703,0.71338606911949],"aabb_xy":[[-0.5749380845744745,-1.5378352624352114],[-0.5063442625389933,-1.4692414900153288]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_32","position":[-0.062015130277551234,-1.5997306671166918,0.71338606911949],"aabb_xy":[[-0.1420151335353942,-1.6797271749086757],[0.017984872980291722,-1.5197341593247078]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_33","position":[0.3400115664796539,-2.3958965639916285,0.71338606911949],"aabb_xy":[[0.26001156620604693,-2.468846111817345],[0.4200115667532609,-2.3229470161659114]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6774207858649166,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1416.png","name":"1416"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1416.png","name":"1416"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4086.png","name":"4086"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2385.png","name":"2385"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/599.png","name":"599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4515.png","name":"4515"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":798.2941708903121,"rotation_z_degrees":35.00224702930011,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008985775967729382,-0.017456773371796675,0.0038304622903298086]},{"name":"camera_2","offset_m":[0.01824420140172624,-0.003501621965510352,0.00766124854436126]},{"name":"camera_3","offset_m":[3.399304626397828e-05,-0.006157007603382584,0.009650132779420666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012137493462435504,0.0006874900939666177,-2.0786394497497238e-05],"end_effector_yaw_offset_degrees":-0.603852792211123},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018867393123058467,-0.0009253158933500232,0.0010862052397726087],"end_effector_yaw_offset_degrees":-0.6572921351696859},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005302546093673294,-0.0003943853254818298,-0.0019171649281880705],"end_effector_yaw_offset_degrees":-0.8601302201974308}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009627508338719368,0.00460885022954288],"position_m":[0.21083724916612806,0.02840885022954288,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035757249343640078,-0.004496585697670634],"position_m":[0.27817572493436404,-0.3120965856976706,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0004657097024994483,2.3629360870691674e-05],"position_m":[0.16313429029750054,0.2256236293608707,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004682812193774995,-0.0010999749038740959],"position_m":[0.34901718780622504,0.1671000250961259,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"24fd2f7ba9d730c6a741ef72d3e9759f9b607ca17e139bd84695a6095e27af3c","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1416/tex_ceiling_textures_4515/tex_floor_textures_599/tex_table_textures_4086/tex_wall_textures_2385","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1565446611363353202,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1565446611363353202,"visual_seed":1565446611363353202,"scene_id":"lab_003","finished_at":"2026-09-04T16:11:22"} +{"episode_id":"ep_000055","started_at":"2026-09-04T16:11:26","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[-0.6108594751730053,-2.0366837156715043,0.71338606911949],"aabb_xy":[[-0.6748594737595778,-2.083690679071013],[-0.5468594765864329,-1.9896767522719956]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.2194204355525522,-1.6060104860708955,0.71338606911949],"aabb_xy":[[0.20900887687206846,-1.6113562194067934],[0.22983199423303588,-1.6006647527349966]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.27259752882862454,0.7251796679386433,0.71338606911949],"aabb_xy":[[-0.29170983618660334,0.7060448890614013],[-0.2534852214706456,0.7443144468158853]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[-0.07530876735449188,-0.9594875849458451,0.71338606911949],"aabb_xy":[[-0.13930876378181378,-1.0066572087679415],[-0.01130877092716999,-0.9123179611237486]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.5208417757393748,0.3816071053056942,0.71338606911949],"aabb_xy":[[0.5153838301023548,0.30160710199803503],[0.5262997213763949,0.46160710861335325]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[-0.447180877911446,-1.5746658878041406,0.71338606911949],"aabb_xy":[[-0.4972783418925196,-1.6386658883139524],[-0.3970834139303724,-1.5106658872943288]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.1066479156943061,-0.32861422511919125,0.71338606911949],"aabb_xy":[[-0.14414791579989902,-0.3354363869721723],[-0.06914791558871312,-0.32179206326621007]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[0.6711651872803688,1.329237597567107,0.71338606911949],"aabb_xy":[[0.6212824904026726,1.2792375983208322],[0.721047884158065,1.3792375968133816]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.10264173876200156,-0.8468467548727483,0.71338606911949],"aabb_xy":[[0.09868125499226718,-0.8545146194582688],[0.10660222253173593,-0.8391788902872276]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.586221838017017,1.362350199369891,0.71338606911949],"aabb_xy":[[-0.6362218374572125,1.3123822748855745],[-0.5362218385768213,1.412318123854207]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[0.3807809452748705,-1.7162574420275283,0.71338606911949],"aabb_xy":[[0.3207809447670175,-1.7731041757134496],[0.44078094578272337,-1.659410708341607]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[-0.42487015549563345,-0.17924661619268845,0.71338606911949],"aabb_xy":[[-0.4748434494988938,-0.2292466167472358],[-0.3748968614923729,-0.1292466156381411]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.6770151784795171,0.9035142898010791,0.71338606911949],"aabb_xy":[[-0.6863087967166677,0.8660142913129452],[-0.6677215602423665,0.941014288289213]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.42486918464416523,-0.8075837026801067,0.71338606911949],"aabb_xy":[[-0.48645994386815816,-0.8715837007891537],[-0.3632784254201725,-0.7435837045710599]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.5131231807039184,1.7937759060662608,0.71338606911949],"aabb_xy":[[-0.5301332779939689,1.777641417567987],[-0.4961130834138676,1.809910394564535]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.4078405780793079,1.2690452210686773,0.71338606911949],"aabb_xy":[[-0.41840805773740686,1.2585001909556688],[-0.39727309842120884,1.279590251181686]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[0.27129358830958017,-0.5376709300824003,0.71338606911949],"aabb_xy":[[0.23670250545553492,-0.6026709303674311],[0.30588467116362533,-0.4726709297973691]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.13258120680289642,0.06435493405673531,0.71338606911949],"aabb_xy":[[-0.19658120597266637,0.01758824693777283],[-0.06858120763312649,0.11112162117569778]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[0.6259521640559291,-2.512650354956774,0.71338606911949],"aabb_xy":[[0.5359521675550573,-2.558561997375232],[0.7159521605568008,-2.4667387125383153]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.36921784238657307,1.4443898075506563,0.71338606911949],"aabb_xy":[[0.3638853277319601,1.439065479305421],[0.37455035704118605,1.449714135795892]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.333364113302665,1.2606126943123388,0.71338606911949],"aabb_xy":[[0.2983641141098467,1.249645648314676],[0.36836411249548323,1.271579740310001]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.332040598783665,-0.824857228363296,0.71338606911949],"aabb_xy":[[0.3037108888351248,-0.8293179705570132],[0.36037030873220527,-0.820396486169579]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.476632652877645,-0.6355830218774954,0.71338606911949],"aabb_xy":[[0.4266326525170789,-0.6855630090870981],[0.526632653238211,-0.5856030346678922]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.06640573724617249,1.6178322935254612,0.71338606911949],"aabb_xy":[[0.0236390303667523,1.5538322901036585],[0.10917244412559268,1.6818322969472634]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[0.467854847837762,-0.1308686685315843,0.71338606911949],"aabb_xy":[[0.40385484854359377,-0.1948548089004385],[0.5318548471319302,-0.0668825281627301]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[0.40614831666915796,-2.386775980035103,0.71338606911949],"aabb_xy":[[0.37566406654212775,-2.4367759798165984],[0.43663256679618806,-2.3367759802536066]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[-0.5486725261526132,1.2034777259996448,0.71338606911949],"aabb_xy":[[-0.5711372961240183,1.180977725120784],[-0.5262077561812081,1.225977726878505]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_27","position":[-0.1260292659609209,1.1601294535686062,0.71338606911949],"aabb_xy":[[-0.13329051353132831,1.1473424433050967],[-0.11876801839051349,1.1729164638321157]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_28","position":[-0.02749634353269581,-1.308281611822047,0.71338606911949],"aabb_xy":[[-0.051332561173300886,-1.3982816126305337],[-0.0036601258920907495,-1.2182816110135608]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_29","position":[-0.5082455234092562,-0.4953102207106199,0.71338606911949],"aabb_xy":[[-0.5722455236832344,-0.5453763209079079],[-0.444245523135278,-0.44524412051333195]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_30","position":[0.05678986340556835,-1.520268796267464,0.71338606911949],"aabb_xy":[[0.0512081917714396,-1.5327687960852394],[0.06237153503969712,-1.5077687964496884]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6729837114440036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5642.png","name":"5642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5796.png","name":"5796"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8648.png","name":"8648"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2020.png","name":"2020"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":730.0475768007716,"rotation_z_degrees":144.4653864069048,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019739726744313544,-0.017958321751166472,-0.015193664383608838]},{"name":"camera_2","offset_m":[0.01563064505488224,-0.002713755516217692,0.010910870555354068]},{"name":"camera_3","offset_m":[-0.01301633884402299,0.0048800253609643345,0.011202343750197862]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008793047661130315,-0.0016874906400119079,0.0013136940700299907],"end_effector_yaw_offset_degrees":0.6696424458997186},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013870185370511942,-0.001854475597565403,-0.0012241041578252504],"end_effector_yaw_offset_degrees":0.9211620258601165},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001911761059307369,0.001819781657558125,-0.001757168186000849],"end_effector_yaw_offset_degrees":-0.019763425804720125}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033785879040849056,0.0029852271127745597],"position_m":[0.20842141209591508,0.026785227112774562,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00266552658967527,0.003451639887193489],"position_m":[0.2772655265896753,-0.3041483601128065,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[9.76396539961108e-05,0.002901892366492148],"position_m":[0.1636976396539961,0.22850189236649215,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003024255278628845,0.0038255175691435184],"position_m":[0.3506757447213712,0.1720255175691435,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"79c379c8da92d34e8944610469997d160832856d2b882815e48044e874a7c76e","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0055.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1635/tex_ceiling_textures_2020/tex_floor_textures_8648/tex_table_textures_5642/tex_wall_textures_5796","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":132993498391923408,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":132993498391923408,"visual_seed":132993498391923408,"scene_id":"lab_003","finished_at":"2026-09-04T16:14:00"} +{"episode_id":"ep_000056","started_at":"2026-09-04T16:14:03","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.33171187699781374,-1.3862664787633425,0.71338606911949],"aabb_xy":[[-0.3542118768117161,-1.3907410951338233],[-0.30921187718391135,-1.3817918623928618]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.39816243798758877,0.988720180375458,0.71338606911949],"aabb_xy":[[0.35103305898575304,0.9247201793310558],[0.4452918169894244,1.0527201814198597]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[0.40047923202973235,-0.9481670387961785,0.71338606911949],"aabb_xy":[[0.3629792320859659,-0.956460128831015],[0.4379792319734987,-0.9398739487613419]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.06843406064872504,-0.5273879807806403,0.71338606911949],"aabb_xy":[[-0.07927453887523994,-0.5445742620712891],[-0.05759358242221013,-0.5102016994899915]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[-0.24026972473170755,-0.38732622433860975,0.71338606911949],"aabb_xy":[[-0.2500257142408814,-0.39708875839784413],[-0.23051373522253363,-0.37756369027937525]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[-0.46746112196250644,-2.0021498029612292,0.71338606911949],"aabb_xy":[[-0.4780286016206054,-2.012694833074238],[-0.4568936423044074,-1.9916047728482207]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.20870185389772455,1.0570298177674147,0.71338606911949],"aabb_xy":[[0.14470615650262794,0.993029819466706],[0.27269755129282114,1.1210298160681234]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.22175960862763394,0.5962309655917046,0.71338606911949],"aabb_xy":[[-0.27173290263089434,0.5462309650371572],[-0.1717863146243734,0.6462309661462519]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.4976987689208181,0.40476458763002565,0.71338606911949],"aabb_xy":[[0.45639422585708206,0.3407645880619085],[0.5390033119845541,0.4687645871981427]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[0.0005609488639058968,-1.4538181901968805,0.71338606911949],"aabb_xy":[[-0.049321748013790315,-1.5038181894431555],[0.05044364574160211,-1.4038181909506058]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.5515877667335127,-2.4080606296899365,0.71338606911949],"aabb_xy":[[0.501587767293317,-2.458028554174253],[0.6015877661737082,-2.35809270520562]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.6326052377458006,-0.5809838970104675,0.71338606911949],"aabb_xy":[[-0.6676052369386187,-0.5919509430081299],[-0.5976052385529822,-0.5700168510128046]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.06596579255539181,0.14403587750502878,0.71338606911949],"aabb_xy":[[-0.0884657925655401,0.1299396578654255],[-0.04346579254524352,0.15813209714463206]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.37380437683484535,0.37539835161926405,0.71338606911949],"aabb_xy":[[-0.43880437947263884,0.32391875291981703],[-0.30880437419705187,0.42687795031871095]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[-0.35958357107565947,0.9059094465582271,0.71338606911949],"aabb_xy":[[-0.3730300977097028,0.8924395949051358],[-0.34613704444161614,0.9193792982113183]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.20914682329354023,-1.669996707064584,0.71338606911949],"aabb_xy":[[-0.22943112601693896,-1.6902793322072927],[-0.18886252057014144,-1.649714081921875]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.052287823784564424,-2.50683595793392,0.71338606911949],"aabb_xy":[[-0.10176824499852322,-2.5708359558467717],[-0.0028074025706056327,-2.442835960021068]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.6472076109129272,0.022618301491940773,0.71338606911949],"aabb_xy":[[-0.6697076104366345,0.0001223540413199976],[-0.6247076113892197,0.04511424894256155]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.03519551726091785,1.6122052846299915,0.71338606911949],"aabb_xy":[[-0.044804481326401566,1.5328896826918306],[0.11519551584823728,1.6915208865681524]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[-0.5843142967595047,0.9999022908357369,0.71338606911949],"aabb_xy":[[-0.6543142993960911,0.9797974258398715],[-0.5143142941229184,1.0200071558316024]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.24570600073378612,1.6872720158739551,0.71338606911949],"aabb_xy":[[0.19570672556535001,1.637272014598008],[0.29570527590222234,1.7372720171499023]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[0.6170897772932387,0.49543972001624237,0.71338606911949],"aabb_xy":[[0.6090464173672835,0.41043971892087594],[0.6251331372191938,0.5804397211116088]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[-0.6007494702048158,-0.40179626212330977,0.71338606911949],"aabb_xy":[[-0.6807432937833742,-0.4817962647161514],[-0.5207556466262577,-0.32179625953046825]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[-0.45928997525724835,-1.276924691921486,0.71338606911949],"aabb_xy":[[-0.5232899738438208,-1.3239316553209945],[-0.39528997667067584,-1.2299177285219771]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[-0.44710846316407304,0.9981029319991777,0.71338606911949],"aabb_xy":[[-0.46960846340758844,0.9858982973394057],[-0.42460846292055765,1.0103075666589496]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.5563758168158672,0.7337599403611179,0.71338606911949],"aabb_xy":[[-0.6063758184773619,0.6837614981054151],[-0.5063758151543724,0.7837583826168205]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[0.45877178990642387,0.03990080288852482,0.71338606911949],"aabb_xy":[[0.43355095304658414,0.014677052035638063],[0.4839926267662635,0.06512455374141154]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_27","position":[0.39261858455453136,0.2340937208413374,0.71338606911949],"aabb_xy":[[0.38850263444245864,0.22997816580849187],[0.39673453466660397,0.23820927587418286]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_28","position":[-0.38519610430887435,-0.4931007807191641,0.71338606911949],"aabb_xy":[[-0.40769610482091495,-0.5155926390845624],[-0.36269610379683376,-0.47060892235376567]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.669874993239681,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9369.png","name":"9369"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9369.png","name":"9369"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7427.png","name":"7427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3516.png","name":"3516"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9769.png","name":"9769"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7007.png","name":"7007"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":552.5850957165605,"rotation_z_degrees":313.18450290159916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0027710699237750228,-0.0038359386596388927,-0.004130175100720657]},{"name":"camera_2","offset_m":[0.0056711978646739256,-0.018268571079872946,-0.005191516577191319]},{"name":"camera_3","offset_m":[0.01928725482864672,0.013845746020892152,0.017105968114600526]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001424722334076162,0.0014652224782032005,-0.0016377022091983897],"end_effector_yaw_offset_degrees":-0.5515551591003882},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014232965655952123,0.0011759912637971845,-0.001674009936405454],"end_effector_yaw_offset_degrees":-0.6297473630008106},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015571200616235638,-0.0016341313169626458,0.0005860122484295464],"end_effector_yaw_offset_degrees":-0.21890779746418376}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006306103072892177,-0.0008155399339817649],"position_m":[0.2124306103072892,0.022984460066018238,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007642641262289775,0.0035639718637463435],"position_m":[0.273835735873771,-0.30403602813625363,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00042888065118974836,-0.0019452381342421653],"position_m":[0.16317111934881023,0.22365476186575783,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030493635020418007,0.0025806512125032934],"position_m":[0.35674936350204184,0.17078065121250327,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eed841968ac815ae02a423dca089b335d8f779387669b4b6ba6ee045d3a10456","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9369/tex_ceiling_textures_7007/tex_floor_textures_9769/tex_table_textures_7427/tex_wall_textures_3516","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6551526385125529595,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6551526385125529595,"visual_seed":6551526385125529595,"scene_id":"lab_003","finished_at":"2026-09-04T16:16:36"} +{"episode_id":"ep_000057","started_at":"2026-09-04T16:16:40","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[-0.653923042176283,-0.022517165785743032,0.71338606911949],"aabb_xy":[[-0.6949409855626538,-0.07251716641670036],[-0.6129050987899121,0.0274828348452143]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_1","position":[-0.4448972592930808,0.08092044601551907,0.71338606911949],"aabb_xy":[[-0.4998709813294137,0.025920446451285883],[-0.38992353725674794,0.13592044557975225]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[0.5515642570768284,-2.4874892818777963,0.71338606911949],"aabb_xy":[[0.48156425547454895,-2.5009220750794543],[0.6215642586791079,-2.474056488676139]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.3123257100960819,1.4029797963148756,0.71338606911949],"aabb_xy":[[0.274825708911289,1.398561573618815],[0.3498257112808746,1.407398019010936]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.6993438899205457,-2.362690325425726,0.71338606911949],"aabb_xy":[[0.6817655877315989,-2.380264814999831],[0.7169221921094926,-2.345115835851621]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[-0.2407340099081774,-1.771572092391848,0.71338606911949],"aabb_xy":[[-0.2631987798795825,-1.7940720932707084],[-0.21826923993677227,-1.7490720915129874]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.45498211614240136,0.3705345429326905,0.71338606911949],"aabb_xy":[[-0.5349821133019765,0.35898694197487346],[-0.37498211898282596,0.38208214389050754]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.0804041600207207,-1.164040782151717,0.71338606911949],"aabb_xy":[[0.025278954391129937,-1.224040783593004],[0.13552936565031148,-1.1040407807104298]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[0.5366898280318828,-2.0284008882910096,0.71338606911949],"aabb_xy":[[0.4866898267480428,-2.0783797426816313],[0.5866898293157227,-1.9784220339003873]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[-0.46039117473089797,-0.25795212946558754,0.71338606911949],"aabb_xy":[[-0.5103911743072327,-0.30793270841769355],[-0.4103911751545633,-0.20797155051348165]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.09200958309645524,1.6887033574513546,0.71338606911949],"aabb_xy":[[0.05954788221452776,1.6585705253364516],[0.12447128397838267,1.7188361895662567]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.44090229139953196,-1.7070160967502463,0.71338606911949],"aabb_xy":[[0.35590229270745727,-1.7390019601451252],[0.5259022900916066,-1.6750302333553675]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[0.31134461806208424,-0.607653404148006,0.71338606911949],"aabb_xy":[[0.2612471540810106,-0.6716534046578176],[0.36144208204315786,-0.543653403638194]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.17840617610964116,0.8301713960882959,0.71338606911949],"aabb_xy":[[-0.20955309495322427,0.7601713974014886],[-0.14725925726605804,0.900171394775103]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.46601034319832424,-1.0892328721127238,0.71338606911949],"aabb_xy":[[0.4587490956279168,-1.1020198823762335],[0.47327159076873165,-1.0764458618492145]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.5507552710206969,-2.206293071968414,0.71338606911949],"aabb_xy":[[0.5391862902737603,-2.2312930720853457],[0.5623242517676335,-2.1812930718514822]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.2026792653637418,-1.9758959064020742,0.71338606911949],"aabb_xy":[[0.13867926345139947,-2.0318070556600847],[0.26667926727608415,-1.9199847571440638]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.6037140062283608,0.19397150122351947,0.71338606911949],"aabb_xy":[[0.5237140076410414,0.11465589928535856],[0.6837140048156802,0.2732871031616803]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.4936716864690833,1.4204343684990257,0.71338606911949],"aabb_xy":[[-0.5135627263494237,1.407778557214329],[-0.4737806465887432,1.4330901797837228]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[-0.5810246451446798,0.7818602853165175,0.71338606911949],"aabb_xy":[[-0.5944711717787231,0.7683904336634263],[-0.5675781185106364,0.7953301369696087]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.2158394366772161,-2.1076138110511113,0.71338606911949],"aabb_xy":[[-0.24580699358704178,-2.137613811348997],[-0.18587187976739045,-2.077613810753226]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[0.25894975219387617,-2.4461825635147414,0.71338606911949],"aabb_xy":[[0.1973589929698834,-2.5101825616237887],[0.32054051141786905,-2.382182565405695]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[-0.6044643386060884,0.15543904647006146,0.71338606911949],"aabb_xy":[[-0.6544643389666543,0.1054590592604585],[-0.5544643382455222,0.20541903367966438]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_23","position":[0.07716521215647465,-2.2427735422378117,0.71338606911949],"aabb_xy":[[0.07253009700424125,-2.24664087731496],[0.08180032730870802,-2.2389062071606625]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6754188183446698,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9188.png","name":"9188"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9188.png","name":"9188"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1987.png","name":"1987"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6534.png","name":"6534"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/86.png","name":"86"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/149.png","name":"149"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":614.1703500141072,"rotation_z_degrees":326.7720298920305,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0041671472691943295,0.0027642492387850333,0.011782106827938513]},{"name":"camera_2","offset_m":[0.009351230673378608,-0.0025770102021716243,0.015981593532999615]},{"name":"camera_3","offset_m":[-0.004812703987271197,0.012691878807681214,0.018790589794424852]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[6.466216986003408e-05,-0.001505914715654924,-0.0003968566102848681],"end_effector_yaw_offset_degrees":0.8818647527891703},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017008843387407904,-0.0012010024882831711,0.0008686332714699578],"end_effector_yaw_offset_degrees":0.10360582213762659},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009733836453418858,0.0014441287408384655,-0.0008679323966317737],"end_effector_yaw_offset_degrees":0.4901751197606625}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024570397230161524,-0.0005856346203701309],"position_m":[0.20934296027698385,0.02321436537962987,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004023021441817493,0.0007483184342059902],"position_m":[0.2786230214418175,-0.306851681565794,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00026266011936733943,-0.0025574792051188135],"position_m":[0.16386266011936734,0.22304252079488118,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004088978058548646,0.0038763452903244526],"position_m":[0.3496110219414514,0.17207634529032445,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a4fb8ce2bc7cdec366aab7a2dd84e904b46fd43acb7deddf48d04777ef08b96a","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0057.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9188/tex_ceiling_textures_149/tex_floor_textures_86/tex_table_textures_1987/tex_wall_textures_6534","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4252325700407023977,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4252325700407023977,"visual_seed":4252325700407023977,"scene_id":"lab_003","finished_at":"2026-09-04T16:19:23"} +{"episode_id":"ep_000058","started_at":"2026-09-04T16:19:26","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.0128310203974622,0.16081521250328024,0.71338606911949],"aabb_xy":[[-0.023736796485024914,0.08081521610445108],[-0.0019252443098994893,0.2408152089021094]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.48838330188645207,-0.37600520062974097,0.71338606911949],"aabb_xy":[[-0.5683771254650103,-0.4560052032225826],[-0.4083894783078939,-0.29600519803689945]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.22330059058987706,-1.0767233180313387,0.71338606911949],"aabb_xy":[[-0.28730058701719896,-1.123892941853435],[-0.15930059416255515,-1.029553694209242]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.5875019648167246,-2.012948642039139,0.71338606911949],"aabb_xy":[[0.5719461954064593,-2.0284990752835466],[0.6030577342269898,-1.9973982087947322]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[0.37782675512198005,-0.8908367600811704,0.71338606911949],"aabb_xy":[[0.31382675307224805,-0.9309312431704784],[0.44182675717171205,-0.8507422769918624]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[-0.14978226548989038,1.503948713243712,0.71338606911949],"aabb_xy":[[-0.21378226279223678,1.4595822862758552],[-0.08578226818754398,1.5483151402115687]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[0.6799796211146059,-0.0679267860175976,0.71338606911949],"aabb_xy":[[0.6621105133601504,-0.08175969399480854],[0.6978487288690614,-0.05409387804038668]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[-0.1465485548201615,-0.312386446422781,0.71338606911949],"aabb_xy":[[-0.21154855337723433,-0.34213897983666364],[-0.08154855626308866,-0.2826339130088984]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[0.0633957206088257,-2.2379284665172756,0.71338606911949],"aabb_xy":[[0.04089572079492333,-2.242403082887756],[0.0858957204227281,-2.233453850146795]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[-0.6189760891763402,-0.9444137391661371,0.71338606911949],"aabb_xy":[[-0.6602806322400762,-1.0084137387342542],[-0.5776715461126042,-0.88041373959802]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.44380137926707797,-2.1298121727483115,0.71338606911949],"aabb_xy":[[-0.49377879613233144,-2.1798121742375596],[-0.39382396240182427,-2.0798121712590625]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.3759287378076097,0.7988755046863378,0.71338606911949],"aabb_xy":[[0.31592873796104287,0.7420568824932992],[0.43592873765417645,0.8556941268793765]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.2595481880854924,-1.1144750356360213,0.71338606911949],"aabb_xy":[[0.2182993770555776,-1.1694750351482386],[0.300796999115407,-1.0594750361238037]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.1483944077879762,-0.8177195781071476,0.71338606911949],"aabb_xy":[[-0.18572568431321881,-0.8523726329019997],[-0.11106313126273357,-0.7830665233122952]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.6986019256986589,-1.3488015381148184,0.71338606911949],"aabb_xy":[[0.6877503194497833,-1.3596608288424694],[0.7094535319475345,-1.3379422473871674]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.4604364118121226,-0.18305575837606636,0.71338606911949],"aabb_xy":[[-0.5504364104065926,-0.1993063446894874],[-0.37043641321765275,-0.16680517206264536]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[-0.12424851563519845,0.8411209432130677,0.71338606911949],"aabb_xy":[[-0.14879473125794918,0.8108720466640308],[-0.09970230001244773,0.8713698397621049]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[-0.046160178374620164,-0.7962985003731107,0.71338606911949],"aabb_xy":[[-0.06133234765625351,-0.8114673573013139],[-0.03098800909298683,-0.7811296434449072]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.18235233755562652,-1.7978401773696144,0.71338606911949],"aabb_xy":[[-0.252352339157906,-1.811272970571272],[-0.11235233595334704,-1.7844073841679569]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.6289487476220634,-0.5562593490564627,0.71338606911949],"aabb_xy":[[0.6113159120285359,-0.5738822950720855],[0.646581583215591,-0.5386364030408396]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[0.1503339967026982,-1.8695293203932664,0.71338606911949],"aabb_xy":[[0.060333999967087965,-1.9227127837105606],[0.24033399343830839,-1.8163458570759716]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[-0.18510282534793032,0.32348097087357397,0.71338606911949],"aabb_xy":[[-0.19151663899111523,0.3170711506259056],[-0.17868901170474535,0.32989079112124226]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6729774883770538,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5939.png","name":"5939"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5939.png","name":"5939"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8445.png","name":"8445"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8859.png","name":"8859"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1464.png","name":"1464"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9044.png","name":"9044"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":670.7457961684282,"rotation_z_degrees":205.48426124721885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017453201615375124,-0.019368055734858974,0.004406702250674976]},{"name":"camera_2","offset_m":[-0.015556466558979265,0.015716326336478074,-0.016043815293571115]},{"name":"camera_3","offset_m":[-0.016906542885985407,-0.005310397082554928,-0.01675848710230803]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005256136925607564,0.00020491555456130049,-0.00031767590424284283],"end_effector_yaw_offset_degrees":0.034457415007011605},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001427658302801373,-0.0006616005650770798,2.6908345185685557e-05],"end_effector_yaw_offset_degrees":0.9785736109621626},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001879169714962008,-0.0005381752150635086,0.0007505505400043941],"end_effector_yaw_offset_degrees":0.1342313591184121}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001584841372638284,0.0008502907585095998],"position_m":[0.2102151586273617,0.0246502907585096,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015492572949007376,-0.004714711883448499],"position_m":[0.27305074270509927,-0.3123147118834485,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0004008947015481804,-0.004410317603702314],"position_m":[0.1631991052984518,0.2211896823962977,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013284342242250724,0.00031498341082243295],"position_m":[0.35237156577577494,0.1685149834108224,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"68c69e37c0b7c8712df40fe8c4f9c8dff7ee7611e8d97e7603d72f5f9e831f30","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5939/tex_ceiling_textures_9044/tex_floor_textures_1464/tex_table_textures_8445/tex_wall_textures_8859","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2917063276602181172,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2917063276602181172,"visual_seed":2917063276602181172,"scene_id":"lab_003","finished_at":"2026-09-04T16:21:58"} +{"episode_id":"ep_000059","started_at":"2026-09-04T16:22:01","dimensions":{"distractor":{"count":31,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.1952884859522913,-0.6803842646434053,0.71338606911949],"aabb_xy":[[-0.2084397319235807,-0.7053842644000918],[-0.18213723998100195,-0.6553842648867187]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[-0.09580219353883701,-0.3686370541363533,0.71338606911949],"aabb_xy":[[-0.1158606051520773,-0.3887021410455109],[-0.07574378192559672,-0.3485719672271958]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.5030366139430356,-2.5698940228100438,0.71338606911949],"aabb_xy":[[0.4989206638309628,-2.574009577842889],[0.5071525640551081,-2.5657784677771978]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[-0.582577036251783,-1.4556677656468784,0.71338606911949],"aabb_xy":[[-0.5886716641399014,-1.464237160198547],[-0.5764824083636647,-1.4470983710952097]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[-0.22189874306158625,-0.42736600566403693,0.71338606911949],"aabb_xy":[[-0.2553389182576058,-0.4608096314949669],[-0.1884585678655666,-0.39392237983310674]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.17359641289073635,-2.2743095245975997,0.71338606911949],"aabb_xy":[[-0.2375964152335379,-2.319250375841732],[-0.10959641054793477,-2.2293686733534672]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[0.09723325352444823,-1.1211079649014077,0.71338606911949],"aabb_xy":[[0.07532457138509717,-1.1430086317214985],[0.11914193566379926,-1.099207298081317]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.5184740371700962,0.5393370151794379,0.71338606911949],"aabb_xy":[[0.5110615816287077,0.53348580475781],[0.5258864927114847,0.545188225601066]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[0.5041801800749992,1.0191563692187628,0.71338606911949],"aabb_xy":[[0.4707010128139584,0.9856772558476561],[0.5376593473360403,1.05263548258987]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[-0.44045059510201634,-1.417942527150927,0.71338606911949],"aabb_xy":[[-0.49043354528949556,-1.4679425267934871],[-0.3904676449145369,-1.3679425275083663]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[0.21672699538953555,-2.1564640638184196,0.71338606911949],"aabb_xy":[[0.16172699621294606,-2.211453738593377],[0.27172699456612504,-2.1014743890434615]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[0.100678458937287,1.637965499154857,0.71338606911949],"aabb_xy":[[0.06317846036166617,1.625229203491299],[0.13817845751290778,1.6507017948184148]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[-0.47909793937624084,-0.9228958884391862,0.71338606911949],"aabb_xy":[[-0.5690979390994151,-0.9459692409743659],[-0.38909793965306666,-0.8998225359040062]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.5919836671571967,-2.0618549453377106,0.71338606911949],"aabb_xy":[[0.5801115841456955,-2.146854945031361],[0.6038557501686977,-1.9768549456440603]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.20698894762551334,1.746674526412885,0.71338606911949],"aabb_xy":[[0.18247532352850748,1.7224099331108482],[0.2315025717225192,1.7709391197149211]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.38339269910385987,1.533633925034834,0.71338606911949],"aabb_xy":[[0.34776354320390007,1.4980012582779811],[0.41902185500381955,1.569266591791687]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.5316975639277932,0.693362863981922,0.71338606911949],"aabb_xy":[[-0.6216975625222632,0.677112277668501],[-0.44169756533332327,0.7096134502953431]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.510187689685909,-1.8669925366222617,0.71338606911949],"aabb_xy":[[-0.5276876899309584,-1.8844923244618283],[-0.49268768944085967,-1.8494927487826947]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[0.39039602775696025,1.2060533687517423,0.71338606911949],"aabb_xy":[[0.35539602640547846,1.1856936327949215],[0.42539602910844193,1.2264131047085631]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[-0.36255681154359287,-1.124475642933708,0.71338606911949],"aabb_xy":[[-0.42655681359332487,-1.164570126023016],[-0.2985568094938609,-1.0843811598444]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[-0.5913216342341473,0.4044861581307244,0.71338606911949],"aabb_xy":[[-0.5966592099001519,0.3794861572015846],[-0.5859840585681427,0.42948615905986415]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[-0.09898754125488796,-1.4382666151600383,0.71338606911949],"aabb_xy":[[-0.1030656991619377,-1.4423475954083018],[-0.09490938334783822,-1.4341856349117752]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[-0.5564654301319312,-1.7408233438492777,0.71338606911949],"aabb_xy":[[-0.6114654297536771,-1.7958070366367505],[-0.5014654305101854,-1.685839651061805]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.46198121555303984,-2.314694275233311,0.71338606911949],"aabb_xy":[[-0.5259812119486129,-2.3786575636520446],[-0.39798121915746676,-2.2507309868145775]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[0.4057520906041734,-2.3827619908756343,0.71338606911949],"aabb_xy":[[0.3882520914698062,-2.3926416179132217],[0.42325208973854056,-2.372882363838046]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[-0.05947231833336375,0.7854613837984967,0.71338606911949],"aabb_xy":[[-0.1491593946414792,0.6954613835440462],[0.030214757974751698,0.8754613840529473]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[-0.38518962458105954,1.0629629179929991,0.71338606911949],"aabb_xy":[[-0.4101896238530218,1.0466175543968366],[-0.36018962530909726,1.0793082815891613]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[-0.2720595085536449,-0.5159510074340319,0.71338606911949],"aabb_xy":[[-0.30955950890187267,-0.5277424030151154],[-0.23455950820541716,-0.5041596118529483]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_28","position":[-0.13580995572130605,-1.2515830934292904,0.71338606911949],"aabb_xy":[[-0.1958099559727072,-1.3058644184657549],[-0.07580995546990485,-1.1973017683928255]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[0.08808664893289742,-1.463853655466219,0.71338606911949],"aabb_xy":[[0.023086647932396884,-1.5146400206208936],[0.15308664993339793,-1.4130672903115438]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_30","position":[0.5567841619278957,-1.3082395641753024,0.71338606911949],"aabb_xy":[[0.5199336139909081,-1.345739564998336],[0.5936347098648833,-1.2707395633522685]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6701743961129323,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3794.png","name":"3794"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3794.png","name":"3794"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2674.png","name":"2674"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2595.png","name":"2595"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7561.png","name":"7561"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3635.png","name":"3635"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":565.2062831849438,"rotation_z_degrees":356.76644326365744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012074451886846322,-0.0163238963494454,0.019121583185850496]},{"name":"camera_2","offset_m":[0.009096082434005278,0.008039206048362807,0.004036435244931164]},{"name":"camera_3","offset_m":[-0.007012466528606889,0.004140451231451906,-0.008493893354244513]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001368355120411811,0.0009961913960083828,-0.00011267543560260977],"end_effector_yaw_offset_degrees":0.8981422157175167},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00031964380347508474,-0.0017982859873404743,-0.00037263192850092307],"end_effector_yaw_offset_degrees":-0.343429457475952},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014237595897117817,0.0010219648428277934,0.0018299679947289607],"end_effector_yaw_offset_degrees":0.4716908144938132}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002458851257492951,0.0046654019790063036],"position_m":[0.21425885125749294,0.028465401979006304,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003387718631799146,-0.0021806155740721313],"position_m":[0.27121228136820086,-0.3097806155740721,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004934347146659826,0.0015367599221144503],"position_m":[0.16853434714665982,0.22713675992211443,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012334825788391677,-0.003737737434940298],"position_m":[0.35493348257883917,0.1644622625650597,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0b3aeb325e62e82255deee613d894fc8c15db8cb5fae28cefbba27c7be846be3","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3794/tex_ceiling_textures_3635/tex_floor_textures_7561/tex_table_textures_2674/tex_wall_textures_2595","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7489950343207670090,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7489950343207670090,"visual_seed":7489950343207670090,"scene_id":"lab_003","finished_at":"2026-09-04T16:24:37"} +{"episode_id":"ep_000060","started_at":"2026-09-04T16:24:41","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[-0.3796921382110069,-1.8473031423110167,0.71338606911949],"aabb_xy":[[-0.39229483734808335,-1.8598985385358822],[-0.36708943907393043,-1.8347077460861512]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.3890443490854094,1.4426671210009414,0.71338606911949],"aabb_xy":[[0.3788913335312599,1.4065975794282009],[0.3991973646395587,1.4787366625736815]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[0.6112347681920458,1.4456520543559281,0.71338606911949],"aabb_xy":[[0.602432712883073,1.4378407282009993],[0.6200368235010184,1.4534633805108574]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.10418030933910538,1.1719170991172398,0.71338606911949],"aabb_xy":[[0.09625702910035704,1.1494170988792365],[0.1121035895778537,1.1944170993552432]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[-0.30547938140195824,-2.483737334520218,0.71338606911949],"aabb_xy":[[-0.3134733699796616,-2.4917374146153075],[-0.2974853928242548,-2.4757372544251273]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[0.04620103676220755,-1.3141728844160416,0.71338606911949],"aabb_xy":[[-0.03379896025204044,-1.3343074360894527],[0.12620103377645553,-1.2940383327426301]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[0.6077428826797171,-1.2151113928016073,0.71338606911949],"aabb_xy":[[0.557742881660582,-1.2515776085394354],[0.6577428836988525,-1.1786451770637796]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[0.2614837640617317,1.5522070538771566,0.71338606911949],"aabb_xy":[[0.2523238851178551,1.5456758358336196],[0.2706436430056083,1.5587382719206937]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[-0.42929175052608987,-0.6702191591276003,0.71338606911949],"aabb_xy":[[-0.43538637841420824,-0.678788553679269],[-0.4231971226379716,-0.6616497645759316]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.4886786029271919,0.3497607365526738,0.71338606911949],"aabb_xy":[[-0.5786786066041099,0.2883283299755694],[-0.39867859925027355,0.41119314312977806]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[0.6007070153321616,1.029923804245655,0.71338606911949],"aabb_xy":[[0.515707016640087,0.9979379408507763],[0.6857070140242363,1.061909667640534]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[-0.6584394190439431,0.1356086241882406,0.71338606911949],"aabb_xy":[[-0.6665530737173201,0.12750280773421152],[-0.6503257643705659,0.14371444064226968]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.546603007752388,1.599665979984977,0.71338606911949],"aabb_xy":[[0.46660300449454506,1.5196694721929933],[0.626603011010231,1.6796624877769613]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[0.20238020834641846,-1.0851720181168065,0.71338606911949],"aabb_xy":[[0.19704769369180544,-1.090496346362042],[0.2077127230010314,-1.079847689871571]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.1715596435540584,-2.04473043556417,0.71338606911949],"aabb_xy":[[0.12547455229932689,-2.1087304328167247],[0.21764473480878985,-1.9807304383116147]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[-0.46538402050128425,0.9979591191364428,0.71338606911949],"aabb_xy":[[-0.4886658626994156,0.9129591178392147],[-0.4421021783031529,1.0829591204336708]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[0.12600287973223445,1.6182132255569432,0.71338606911949],"aabb_xy":[[0.10350287922019386,1.5957213671915447],[0.14850288024427505,1.6407050839223414]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.18890236395920146,0.9075740621643198,0.71338606911949],"aabb_xy":[[0.10890236655560805,0.8275814909661369],[0.2689023613627949,0.9875666333625025]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.34579420104471015,1.5345029232022465,0.71338606911949],"aabb_xy":[[0.3398276621039743,1.528541778542882],[0.3517607399854459,1.5404640678616104]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[0.42846629031974337,-1.7008732157017659,0.71338606911949],"aabb_xy":[[0.3484662870557303,-1.714433248010679],[0.5084662935837565,-1.6873131833928523]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.4265020299578399,-0.3580366342198653,0.71338606911949],"aabb_xy":[[0.4040056085239758,-0.38053663402661275],[0.448998451391704,-0.3355366344131179]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[-0.6044701212758593,-0.3473812785435868,0.71338606911949],"aabb_xy":[[-0.6176213672471488,-0.37238127830027334],[-0.5913188753045701,-0.32238127878690026]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[-0.6346637483627505,-1.0348799149758732,0.71338606911949],"aabb_xy":[[-0.6716978577908103,-1.0692571223095824],[-0.5976296389346908,-1.0005027076421635]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6717363548052101,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3648.png","name":"3648"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3648.png","name":"3648"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9005.png","name":"9005"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5337.png","name":"5337"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7694.png","name":"7694"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8484.png","name":"8484"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":556.8689953002023,"rotation_z_degrees":248.05102099301817,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018210476228909613,-0.0025379951093376096,-0.013716194144023874]},{"name":"camera_2","offset_m":[0.0038957097541857666,-0.007328005197165793,-0.008798434012039277]},{"name":"camera_3","offset_m":[0.015159919963432956,-0.0060517383157646255,-0.013885411009403818]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011069827615470538,-7.42644973959429e-05,-6.0480519491916624e-05],"end_effector_yaw_offset_degrees":-0.2996251715465341},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008661870608530089,-0.0017692197830426319,-0.0012487786161465163],"end_effector_yaw_offset_degrees":0.22781659538486188},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017970867406032617,0.0001959494999935361,-0.0003272293320927932],"end_effector_yaw_offset_degrees":0.32507455831264354}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002154257784420505,0.004199303573450446],"position_m":[0.21395425778442048,0.027999303573450447,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013748192857974397,-0.0016952573597189646],"position_m":[0.2732251807142026,-0.30929525735971897,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006561530129522005,-0.004588434776973706],"position_m":[0.16425615301295218,0.22101156522302629,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001288590157566348,-0.004625161405479793],"position_m":[0.35498859015756634,0.16357483859452018,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dad2be79b23710c8da81cb41f565f236ea19cb2a944be521edd7c25656b8b270","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3648/tex_ceiling_textures_8484/tex_floor_textures_7694/tex_table_textures_9005/tex_wall_textures_5337","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4246176086379251519,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4246176086379251519,"visual_seed":4246176086379251519,"scene_id":"lab_003","finished_at":"2026-09-04T16:27:28"} +{"episode_id":"ep_000061","started_at":"2026-09-04T16:27:31","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.6711484202378688,-2.1818516925580065,0.71338606911949],"aabb_xy":[[0.6602968139889933,-2.1927109832856573],[0.6820000264867445,-2.1709924018303557]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.5154008324195284,0.7687502439836069,0.71338606911949],"aabb_xy":[[-0.5567053754832643,0.7047502444154897],[-0.4740962893557923,0.8327502435517239]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.4309877711143914,1.5602736467351428,0.71338606911949],"aabb_xy":[[-0.5209877747913096,1.4988412401580382],[-0.3409877674374732,1.6217060533122467]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.5253127719208779,0.7606203246654819,0.71338606911949],"aabb_xy":[[0.465312772074311,0.7038017024724432],[0.5853127717674446,0.8174389468585206]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.024657782001841877,-1.777553993550503,0.71338606911949],"aabb_xy":[[0.0008215643612368118,-1.8675539943589898],[0.04849399964244695,-1.687553992742017]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.21177312491314448,-1.2849155404489674,0.71338606911949],"aabb_xy":[[0.15677764709248507,-1.3399155418828743],[0.2667686027338039,-1.2299155390150605]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.33715869013130195,0.3690488693570453,0.71338606911949],"aabb_xy":[[-0.34852042478458806,0.35768040295075715],[-0.32579695547801574,0.3804173357633333]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[-0.2688449990892184,0.4948947922880791,0.71338606911949],"aabb_xy":[[-0.3338449976462912,0.46514225887419647],[-0.20384500053214555,0.5246473257019617]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[0.021877954667574917,1.3258433501299645,0.71338606911949],"aabb_xy":[[-0.028122046282957894,1.294294203126443],[0.07187795561810773,1.3573924971334859]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[0.5819585645291772,-1.9293461392082087,0.71338606911949],"aabb_xy":[[0.5179585613105392,-1.976069251107217],[0.6459585677478149,-1.8826230273092004]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.5571054042510728,1.783981742580925,0.71338606911949],"aabb_xy":[[0.48710540211964315,1.7612197769552294],[0.6271054063825022,1.8067437082066207]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.4854091908907287,-0.24373795374401075,0.71338606911949],"aabb_xy":[[-0.5454091917515415,-0.2951643837504971],[-0.42540919002991584,-0.19231152373752433]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.12377589571346159,1.2364048221030308,0.71338606911949],"aabb_xy":[[-0.20377589618367759,1.2280941144886826],[-0.043775895243245676,1.244715529717379]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.6542283874159346,-2.0349205847824443,0.71338606911949],"aabb_xy":[[-0.6892283857266299,-2.04263559970599],[-0.619228389105239,-2.0272055698588987]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[0.49044964945562364,0.2571047746349344,0.71338606911949],"aabb_xy":[[0.4752774801739903,0.24193591770673106],[0.505621818737257,0.2722736315631378]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[0.5141409141694977,1.2615665822168136,0.71338606911949],"aabb_xy":[[0.47664091382126994,1.24977518663573],[0.5516409145177255,1.2733579777978972]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.16648739431566506,1.546865068349963,0.71338606911949],"aabb_xy":[[-0.19148739386740354,1.536722584484828],[-0.14148739476392658,1.5570075522150975]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.27347508634956774,1.3509143272118593,0.71338606911949],"aabb_xy":[[0.24847508718393463,1.343962081506503],[0.29847508551520086,1.3578665729172161]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[0.06324740055326461,-2.023867283044522,0.71338606911949],"aabb_xy":[[-0.02675259886510628,-2.057242779888712],[0.1532473999716355,-1.9904917862003324]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[0.16418871803843083,1.8217261419397963,0.71338606911949],"aabb_xy":[[0.1550288390945542,1.8151949238962592],[0.1733485969823074,1.8282573599833334]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[0.2703705014428395,1.6875761823793227,0.71338606911949],"aabb_xy":[[0.22037050042370426,1.651109966641495],[0.3203705024619748,1.7240423981171509]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[-0.45504774897831396,1.0928758168938395,0.71338606911949],"aabb_xy":[[-0.46101428791904975,1.0869146722344754],[-0.44908121003757817,1.0988369615532037]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[0.25828451409786357,-1.574261317800409,0.71338606911949],"aabb_xy":[[0.2083114485653481,-1.6242613176129423],[0.30825757963037903,-1.5242613179878766]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[0.49512417586220736,0.052392071989198374,0.71338606911949],"aabb_xy":[[0.4451467589969538,0.002392070499949834],[0.545101592727461,0.10239207347844692]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[0.4376618450418379,-1.437293625917359,0.71338606911949],"aabb_xy":[[0.429625510340553,-1.4453317452217758],[0.4456981797431227,-1.4292555066129422]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.02433209419459037,0.7582896663012608,0.71338606911949],"aabb_xy":[[-0.08833209489805972,0.7122712838283399],[0.039667906508878976,0.804308048774182]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[0.2340814001546766,-1.082318499449674,0.71338606911949],"aabb_xy":[[0.22615811991592827,-1.1048184996876773],[0.24200468039342493,-1.0598184992116706]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6743037943150284,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/960.png","name":"960"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/960.png","name":"960"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4057.png","name":"4057"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2001.png","name":"2001"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9245.png","name":"9245"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1210.png","name":"1210"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":724.8506268847092,"rotation_z_degrees":35.19549801574364,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01593945444907424,0.013511109148229495,-0.017712407840029046]},{"name":"camera_2","offset_m":[-0.010025436200401807,-0.00877952740288659,0.00993245314308321]},{"name":"camera_3","offset_m":[-0.0033471490260720306,-0.01794649036585145,-0.016409097371988236]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010451862087385655,-0.0007675862125818003,-0.0018880933148176125],"end_effector_yaw_offset_degrees":-0.7573633683229779},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00024008961114861584,0.0016270245196057915,-0.0012974385588421442],"end_effector_yaw_offset_degrees":0.6140695197999722},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00011166128267129294,0.001789698412650705,-0.0017783441983230534],"end_effector_yaw_offset_degrees":0.37050971336303995}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031568760700661077,0.003584537915922506],"position_m":[0.21495687607006608,0.02738453791592251,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004775603746892535,0.004702594854527414],"position_m":[0.2793756037468925,-0.3028974051454726,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036741122629241956,-0.004663354003476571],"position_m":[0.16727411226292419,0.22093664599652343,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004795464260959054,-0.002082700550076888],"position_m":[0.34890453573904096,0.1661172994499231,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69ee17a220075f5e2c7e14cf095806615e5626f10e0f82ab080d49030d5aa844","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0061.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_960/tex_ceiling_textures_1210/tex_floor_textures_9245/tex_table_textures_4057/tex_wall_textures_2001","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4149307375135474817,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4149307375135474817,"visual_seed":4149307375135474817,"scene_id":"lab_003","finished_at":"2026-09-04T16:30:07"} +{"episode_id":"ep_000062","started_at":"2026-09-04T16:30:10","dimensions":{"distractor":{"count":33,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.3090630126599223,0.5496135621609821,0.71338606911949],"aabb_xy":[[0.22906301218970643,0.5413028545466337],[0.38906301313013836,0.5579242697753305]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.019531097207189596,-1.5077980828478188,0.71338606911949],"aabb_xy":[[-0.030468903743343215,-1.5393472298513402],[0.0695310981577224,-1.4762489358442974]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[-0.49321334157016217,-1.276225645882137,0.71338606911949],"aabb_xy":[[-0.5432064536793542,-1.3262256465563327],[-0.4432202294609704,-1.2262256452079414]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.6489417475080127,1.3732083066569194,0.71338606911949],"aabb_xy":[[-0.6570554021813898,1.3651024902028905],[-0.6408280928346356,1.3813141231109487]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[0.059856401627077616,-2.291924487328075,0.71338606911949],"aabb_xy":[[0.02986473889320728,-2.3219244866648756],[0.08984806436094794,-2.2619244879912745]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[0.5192007129375487,-0.16195189382298913,0.71338606911949],"aabb_xy":[[0.43920071186442833,-0.1717299401603736],[0.599200714010669,-0.15217384748560472]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[0.5787826106205172,0.05436477896138037,0.71338606911949],"aabb_xy":[[0.5147826120339447,0.00735781556187165],[0.6427826092070896,0.10137174236088908]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[-0.0030512349751966594,0.7078917583122935,0.71338606911949],"aabb_xy":[[-0.020629537164143508,0.6903172687381885],[0.014527067213750189,0.7254662478863984]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[-0.605742120460893,-1.4518345087033264,0.71338606911949],"aabb_xy":[[-0.6400583976355109,-1.5018345086765041],[-0.571425843286275,-1.4018345087301487]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.5758277943524619,1.3609174098788497,0.71338606911949],"aabb_xy":[[0.5058277917158753,1.3408125448829842],[0.645827796989048,1.3810222748747152]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.7128771871558122,-0.17987997560272495,0.71338606911949],"aabb_xy":[[0.7027241716016626,-0.21594951717546523],[0.7230302027099613,-0.14381043402998459]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.1277139069684301,1.595044040156234,0.71338606911949],"aabb_xy":[[0.0777364901031765,1.5450440386669853],[0.17769132383368366,1.6450440416454823]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.34353388027868753,-1.0920304397774465,0.71338606911949],"aabb_xy":[[-0.37853388163016927,-1.1123901757342674],[-0.3085338789272058,-1.0716707038206257]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[-0.6459543396705882,-1.0385819706029686,0.71338606911949],"aabb_xy":[[-0.6834543401679465,-1.042550654151087],[-0.60845433917323,-1.0346132870548503]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.027351770901459016,0.8838849308366217,0.71338606911949],"aabb_xy":[[-0.049241518490399816,0.7938849335473726],[-0.005462023312518219,0.9738849281258708]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[0.16502576714764072,-2.4390063236594433,0.71338606911949],"aabb_xy":[[0.14144064368374587,-2.504006325904875],[0.18861089061153558,-2.3740063214140115]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.5947451961541019,-0.9559099271935063,0.71338606911949],"aabb_xy":[[0.5859431408451291,-0.9637212533484354],[0.6035472514630745,-0.9480986010385772]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.4026927976343009,-2.385327222983055,0.71338606911949],"aabb_xy":[[0.3850599620407733,-2.402950168998678],[0.42032563322782845,-2.367704276967432]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[-0.14415854743700318,1.625627057569003,0.71338606911949],"aabb_xy":[[-0.17464279756403334,1.5756270577875071],[-0.11367429730997303,1.675627057350499]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.3876857511203109,0.2829592516874704,0.71338606911949],"aabb_xy":[[0.36246491426047117,0.2577355008345836],[0.4129065879801505,0.3081830025403571]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[-0.4061947774465344,-0.8412459579253984,0.71338606911949],"aabb_xy":[[-0.4142210480771605,-0.849997452902751],[-0.3981685068159085,-0.8324944629480457]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[0.587695856957545,-1.763960163089271,0.71338606911949],"aabb_xy":[[0.5590465245971287,-1.7926057223663467],[0.6163451893179611,-1.7353146038121952]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.07939088104731695,-0.7429933920230174,0.71338606911949],"aabb_xy":[[-0.1443908796043898,-0.7727459254368999],[-0.014390882490244117,-0.7132408586091347]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[-0.15740067185305506,1.088502299547673,0.71338606911949],"aabb_xy":[[-0.16298234348718382,1.0760022997298975],[-0.1518190002189263,1.1010022993654485]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[0.48267507261440756,1.188709774247589,0.71338606911949],"aabb_xy":[[0.40268124903584934,1.1087097716547474],[0.5626688961929658,1.2687097768404305]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_25","position":[0.49227717416197647,-0.6880605537334274,0.71338606911949],"aabb_xy":[[0.4846529060717983,-0.6956937772699712],[0.49990144225215477,-0.6804273301968837]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_26","position":[0.45755079908756713,-0.9307423568751905,0.71338606911949],"aabb_xy":[[0.39355079979339896,-0.9947284972440446],[0.5215507983817353,-0.8667562165063362]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_27","position":[0.6579288825201544,-1.2589740440755108,0.71338606911949],"aabb_xy":[[0.6515150688769693,-1.265383864323179],[0.6643426961633392,-1.2525642238278423]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_28","position":[0.22492086395288258,-1.1559073710984356,0.71338606911949],"aabb_xy":[[0.15992086284693927,-1.1808727441665638],[0.28992086505882586,-1.1309419980303073]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_29","position":[-0.3399239249572044,1.1688209948780814,0.71338606911949],"aabb_xy":[[-0.374220835974945,1.13452410866814],[-0.30562701393946373,1.2031178810880225]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_30","position":[0.6551160864322569,0.18237232434593542,0.71338606911949],"aabb_xy":[[0.6301160871602947,0.16602696074977308],[0.6801160857042192,0.19871768794209776]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_31","position":[-0.32881334891852076,0.4129173708786422,0.71338606911949],"aabb_xy":[[-0.3382308234883835,0.4035011937409232],[-0.319395874348658,0.42233354801636125]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_32","position":[0.2815300255847756,-1.4441538834140555,0.71338606911949],"aabb_xy":[[0.1965300271673524,-1.5290281788763407],[0.36653002400219886,-1.3592795879517707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6713616213914112,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2108.png","name":"2108"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2108.png","name":"2108"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/420.png","name":"420"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6761.png","name":"6761"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2073.png","name":"2073"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2769.png","name":"2769"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":754.0445696182716,"rotation_z_degrees":231.9612860016073,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01989791718511302,0.01387711061069841,0.00031508091700789553]},{"name":"camera_2","offset_m":[-0.01580483077701345,-0.0021622357957670098,-0.0031686834727665952]},{"name":"camera_3","offset_m":[-0.0025264010351968916,-0.00030804207657653127,-0.013344011880523303]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004004348883235992,0.001596138888596566,0.0018667748962516192],"end_effector_yaw_offset_degrees":-0.9445767231113606},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010758144723360822,0.001969798899794849,-0.0009317268330541891],"end_effector_yaw_offset_degrees":-0.20916284781940186},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001880433576700413,0.0014382810143010504,0.0008960249952931652],"end_effector_yaw_offset_degrees":0.7877038255125739}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038475637864320744,0.0037041625022936906],"position_m":[0.2079524362135679,0.02750416250229369,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035230159930915604,-0.004997954362956489],"position_m":[0.27107698400690844,-0.31259795436295645,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018307248700330028,0.0025679528688036628],"position_m":[0.165430724870033,0.22816795286880365,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020713463896081218,0.0012545481824630823],"position_m":[0.3516286536103919,0.16945454818246308,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d636681feadad44320202906e9a734f4a24f24347fbdba26e225d5aeb592ccda","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0062.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2108/tex_ceiling_textures_2769/tex_floor_textures_2073/tex_table_textures_420/tex_wall_textures_6761","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1667543739484992712,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1667543739484992712,"visual_seed":1667543739484992712,"scene_id":"lab_003","finished_at":"2026-09-04T16:32:46"} +{"episode_id":"ep_000063","started_at":"2026-09-04T16:32:49","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[-0.6400306634084358,-0.7627713821990243,0.71338606911949],"aabb_xy":[[-0.6734708386044553,-0.7962150080299543],[-0.6065904882124161,-0.7293277563680941]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.07478329111877036,1.3917112527436526,0.71338606911949],"aabb_xy":[[-0.005216712139072599,1.3117147449516686],[0.1547832943766133,1.4717077605356366]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.5153492131607946,-0.9109022709500403,0.71338606911949],"aabb_xy":[[0.48538165625096896,-0.940902271247926],[0.5453167700706203,-0.8809022706521545]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[-0.4180924768163566,-0.8573251401672728,0.71338606911949],"aabb_xy":[[-0.44059247634006393,-0.8798210876178935],[-0.3955924772926491,-0.8348291927166519]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.1326622459475082,1.0918678902128551,0.71338606911949],"aabb_xy":[[-0.14821801535777346,1.076317456968448],[-0.11710647653724293,1.1074183234572623]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.5990351831083516,1.5335151157731368,0.71338606911949],"aabb_xy":[[-0.6690351795183132,1.5130771801214546],[-0.5290351866983896,1.553953051424818]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[-0.6176985133791959,-1.6328608531967594,0.71338606911949],"aabb_xy":[[-0.6526985147306774,-1.6532205891535805],[-0.5826985120277139,-1.6125011172399388]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[0.5571098256312472,1.6193898081394154,0.71338606911949],"aabb_xy":[[0.5517722499652427,1.5943898072102758],[0.5624474012972518,1.6443898090685554]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.5421141285442499,-0.24013281781009477,0.71338606911949],"aabb_xy":[[0.5050800191161902,-0.27451002514380424],[0.5791482379723096,-0.20575561047638533]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.03204745257393227,-2.4476986219792587,0.71338606911949],"aabb_xy":[[-0.09204745308178518,-2.50454535566518],[0.027952547933920654,-2.390851888293337]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[0.21335518879937243,-1.4908587929428048,0.71338606911949],"aabb_xy":[[0.158359710978713,-1.5458587943767117],[0.26835066662003176,-1.4358587915088978]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.4308271359931113,-1.6947218563906292,0.71338606911949],"aabb_xy":[[-0.43882062578839337,-1.702719988331105],[-0.4228336461978293,-1.6867237244501538]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[0.017017238450578343,-2.2280442576474524,0.71338606911949],"aabb_xy":[[-0.0729827601438916,-2.2442948439608736],[0.10701723704504829,-2.211793671334031]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[0.531494170623124,-1.6132423284537425,0.71338606911949],"aabb_xy":[[0.4664941695171807,-1.6382077015218708],[0.5964941717290673,-1.5882769553856142]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.6223175162802308,0.8009721782372639,0.71338606911949],"aabb_xy":[[-0.6591680642172184,0.7634721774142301],[-0.5854669683432432,0.8384721790602976]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.4622653217297348,1.0005965989217054,0.71338606911949],"aabb_xy":[[0.4082497254478347,0.936596596029448],[0.5162809180116348,1.0645966018139623]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[-0.06777339285653938,-1.8901504215628642,0.71338606911949],"aabb_xy":[[-0.11777339387567468,-1.9266166373006925],[-0.01777339183740412,-1.8536842058250367]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[-0.244046153646786,-1.6884466781050613,0.71338606911949],"aabb_xy":[[-0.29404615459731875,-1.7199958251085827],[-0.19404615269625314,-1.65689753110154]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.07923591779255013,-0.5272632160804145,0.71338606911949],"aabb_xy":[[-0.08456843244716311,-0.53258754432565],[-0.07390340313793714,-0.5219388878351789]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.6113453411629033,0.9099029892382164,0.71338606911949],"aabb_xy":[[0.5661740233147343,0.8459029920936783],[0.6565166590110723,0.9739029863827551]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.07454992014816908,-0.9961754497266675,0.71338606911949],"aabb_xy":[[-0.09704992015831737,-1.0102716693662708],[-0.05204992013802079,-0.9820792300870642]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[-0.4903905359077445,-1.753217931821813,0.71338606911949],"aabb_xy":[[-0.5078905350421116,-1.763097558859401],[-0.4728905367733773,-1.7433383047842252]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.33838222847684674,0.6932939262041198,0.71338606911949],"aabb_xy":[[-0.3605547554534975,0.6711182590479966],[-0.31620970150019584,0.715469593360243]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.5687676875314944,-1.8564925847363605,0.71338606911949],"aabb_xy":[[-0.5764708782055713,-1.8642019554350986],[-0.5610644968574173,-1.8487832140376224]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[-0.40973702004449253,1.656393807638889,0.71338606911949],"aabb_xy":[[-0.4737370214524832,1.6046048561149642],[-0.34573701863650186,1.7081827591628136]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668002714633747,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7537.png","name":"7537"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7537.png","name":"7537"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5506.png","name":"5506"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8233.png","name":"8233"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/646.png","name":"646"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7928.png","name":"7928"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":747.8941125114432,"rotation_z_degrees":193.6075746913567,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0015198707804044212,-0.005112215963058806,-0.010090520815760163]},{"name":"camera_2","offset_m":[0.011587326783826093,0.01783247441156603,0.0034599381631677147]},{"name":"camera_3","offset_m":[0.016382955024078102,-0.0005569148616514225,0.008858467061363631]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006085241147738673,0.0013563809717104971,0.0008509542270721364],"end_effector_yaw_offset_degrees":-0.05730095405659852},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017223701098626914,-0.0018624289210500558,0.0017610334154131353],"end_effector_yaw_offset_degrees":-0.8957442193932874},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015666599938136752,0.0014254554744780098,-0.0017188684783883313],"end_effector_yaw_offset_degrees":-0.43091072077450465}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004409901053567789,-0.0024023124650016403],"position_m":[0.21620990105356777,0.02139768753499836,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004033823621459182,0.003921685227013741],"position_m":[0.27056617637854086,-0.30367831477298624,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004151782805671362,0.0014805975892074564],"position_m":[0.16775178280567135,0.22708059758920746,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014455853882829953,-0.004130101198903481],"position_m":[0.355145585388283,0.16406989880109651,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"48345f557ea3f08de7bb94173672f83dcb3fedadf2d945d75258bf8d64304302","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7537/tex_ceiling_textures_7928/tex_floor_textures_646/tex_table_textures_5506/tex_wall_textures_8233","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5212978922397935521,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5212978922397935521,"visual_seed":5212978922397935521,"scene_id":"lab_003","finished_at":"2026-09-04T16:35:23"} +{"episode_id":"ep_000064","started_at":"2026-09-04T16:35:26","dimensions":{"distractor":{"count":27,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[0.6831263333221986,-1.5401635935474118,0.71338606911949],"aabb_xy":[[0.6606263335082964,-1.5446382099178928],[0.7056263331361011,-1.5356889771769313]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[0.5288169208855085,-2.539333452577356,0.71338606911949],"aabb_xy":[[0.5174551862322222,-2.550701918983644],[0.5401786555387945,-2.5279649861710682]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.4245377906354317,-2.364621445271999,0.71338606911949],"aabb_xy":[[-0.5045377892923177,-2.379126304196262],[-0.3445377919785457,-2.350116586347736]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.3963034645779512,1.4660655844439385,0.71338606911949],"aabb_xy":[[-0.44578388579191,1.402065586531087],[-0.3468230433639924,1.5300655823567906]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[0.452004068052537,-1.5916237341523392,0.71338606911949],"aabb_xy":[[0.3820040659211074,-1.6143856997780346],[0.5220040701839666,-1.5688617685266433]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.40829582904108275,-0.2311537861967352,0.71338606911949],"aabb_xy":[[0.3927400596308175,-0.24670421944114246],[0.423851598451348,-0.21560335295232808]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[0.6311430595071132,1.5084749148771341,0.71338606911949],"aabb_xy":[[0.6202372834195505,1.428474918478305],[0.642048835594676,1.5884749112759633]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.0699355127378043,-0.948680772785305,0.71338606911949],"aabb_xy":[[0.04742182091434709,-1.0186807733863126],[0.09244920456126147,-0.8786807721842976]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[0.18540922509817825,-2.3849780356702808,0.71338606911949],"aabb_xy":[[0.12540922459032533,-2.4418247693562023],[0.24540922560603118,-2.3281313019843592]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[0.00992831501755731,1.2034003150265615,0.71338606911949],"aabb_xy":[[-0.03787785259621134,1.1384003123195026],[0.057734482631325953,1.2684003177336205]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.23809573036023102,1.0044985253206375,0.71338606911949],"aabb_xy":[[0.15437350486014853,0.9144985217859414],[0.3218179558603135,1.0944985288553333]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.24721145271183798,-0.4069838174543223,0.71338606911949],"aabb_xy":[[-0.2847114538966307,-0.41140204015038284],[-0.20971145152704515,-0.4025655947582618]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.26770376935989293,-1.6507124146157595,0.71338606911949],"aabb_xy":[[-0.32171936564179293,-1.7147124175080164],[-0.21368817307799293,-1.586712411723502]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.42404154688719947,-1.3685163006122207,0.71338606911949],"aabb_xy":[[-0.4274822231272567,-1.372377733586585],[-0.42060087064714236,-1.364654867637856]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.5784325117647819,-2.1403499774856263,0.71338606911949],"aabb_xy":[[0.5284332365963458,-2.1903499787615734],[0.6284317869332181,-2.090349976209679]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[0.26268152527514743,-0.8929656950813545,0.71338606911949],"aabb_xy":[[0.21269728956697015,-0.9429656938948501],[0.3126657609833246,-0.8429656962678589]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.23320618051088232,-1.4438141343188107,0.71338606911949],"aabb_xy":[[-0.29820618054518505,-1.4905148109991377],[-0.1682061804765796,-1.3971134576384832]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.6368936334582886,-1.7672239215828047,0.71338606911949],"aabb_xy":[[-0.6410294897909888,-1.8047239210271617],[-0.6327577771255884,-1.7297239221384477]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[-0.2776071701983231,-0.5089211146151711,0.71338606911949],"aabb_xy":[[-0.3426071728361166,-0.560400713314618],[-0.2126071675605296,-0.45744151591572413]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[-0.5477270287480042,-1.8055280630412716,0.71338606911949],"aabb_xy":[[-0.5538216566361225,-1.8140974575929403],[-0.5416324008598858,-1.7969586684896028]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[-0.03248925499132804,-0.6602133939714512,0.71338606911949],"aabb_xy":[[-0.036449738761062424,-0.6678812585569719],[-0.028528771221593675,-0.6525455293859307]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[0.5545800413566855,-0.5990326889466113,0.71338606911949],"aabb_xy":[[0.49945483572709476,-0.6590326903878982],[0.6097052469862763,-0.539032687505324]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[0.6969968217672624,-0.7511112473341655,0.71338606911949],"aabb_xy":[[0.6823534162132294,-0.7657699669909496],[0.7116402273212954,-0.7364525276773811]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.021046363610982,-1.4080608490360045,0.71338606911949],"aabb_xy":[[-0.046267200470821654,-1.4332845998888908],[0.004174473248857671,-1.3828370981831173]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[0.6818489380993644,1.1297171149920535,0.71338606911949],"aabb_xy":[[0.6737352834259872,1.1216112985380244],[0.6899625927727414,1.1378229314460826]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[0.3339256471674812,-0.7000115471496775,0.71338606911949],"aabb_xy":[[0.26992565077190817,-0.7639748355684111],[0.3979256435630543,-0.636048258730944]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[0.5923398083911418,0.04473767052421218,0.71338606911949],"aabb_xy":[[0.5722813967779015,0.024672583615054644],[0.612398220004382,0.06480275743336972]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6684304825573704,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6731.png","name":"6731"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6731.png","name":"6731"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8525.png","name":"8525"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5253.png","name":"5253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3486.png","name":"3486"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9515.png","name":"9515"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":742.8958794736566,"rotation_z_degrees":147.81030833977186,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0053080651067350625,-0.016854459267644166,-0.0009710076230355427]},{"name":"camera_2","offset_m":[0.004356832092960915,0.0176879735169822,0.0006704173991479573]},{"name":"camera_3","offset_m":[0.0067132885789281185,0.0026075326146157256,0.0026270707049253737]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015982063792642407,-0.0016301028198479725,0.0017336394642793644],"end_effector_yaw_offset_degrees":0.6599691247545607},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013549422603686928,-0.0002791093388627144,0.0008343373351361412],"end_effector_yaw_offset_degrees":0.6792342355651777},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00019172462094618889,0.000973580786177469,-0.001921225859769709],"end_effector_yaw_offset_degrees":-0.8732865650188748}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000635524891008433,-0.003332551068663314],"position_m":[0.21243552489100842,0.020467448931336688,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004358295922396695,-0.000267324508996262],"position_m":[0.27024170407760334,-0.30786732450899623,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004509800937214636,0.003274230479847209],"position_m":[0.16810980093721464,0.2288742304798472,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021203283864248993,-0.0023436796868377564],"position_m":[0.3558203283864249,0.16585632031316222,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f62fdbf6c71c361ec1890a3055ca8219124d6da6ce339c7dcd2baa33916c1989","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0064.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6731/tex_ceiling_textures_9515/tex_floor_textures_3486/tex_table_textures_8525/tex_wall_textures_5253","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7850859948255407062,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7850859948255407062,"visual_seed":7850859948255407062,"scene_id":"lab_003","finished_at":"2026-09-04T16:38:17"} +{"episode_id":"ep_000065","started_at":"2026-09-04T16:38:20","dimensions":{"distractor":{"count":35,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.1644991942372772,-1.022245826941712,0.71338606911949],"aabb_xy":[[0.07449919481890632,-1.0556213237859016],[0.2544991936556481,-0.9888703300975221]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.5907414603244154,0.8868754884880294,0.71338606911949],"aabb_xy":[[-0.6084170909130138,0.8691952722086266],[-0.5730658297358171,0.9045557047674321]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[0.6678924540034399,-2.2471934093072834,0.71338606911949],"aabb_xy":[[0.6428924547314775,-2.2635387729034453],[0.692892453275402,-2.2308480457111206]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[-0.10384159906451407,1.0923309064047722,0.71338606911949],"aabb_xy":[[-0.14509041009442877,1.0373309068925545],[-0.06259278803459932,1.1473309059169894]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[-0.2740772949601891,-0.645104004649784,0.71338606911949],"aabb_xy":[[-0.31157729490395547,-0.6533970946846205],[-0.23657729501642266,-0.6368109146149473]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[0.5127330021921905,-2.4848425724781324,0.71338606911949],"aabb_xy":[[0.4777330022961717,-2.493216807990072],[0.5477330020882094,-2.476468336966192]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.682073299439429,0.6528880489266289,0.71338606911949],"aabb_xy":[[0.6724416632189995,0.6432507361469199],[0.6917049356598587,0.6625253617063377]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.2022281570801433,0.5846849790535171,0.71338606911949],"aabb_xy":[[0.13822815637667396,0.5386665965805961],[0.26622815778361264,0.6307033615264381]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[-0.532638752201241,-1.311946699861118,0.71338606911949],"aabb_xy":[[-0.5458696977359222,-1.325174118883117],[-0.5194078066665596,-1.2987192808391181]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.3646101588232649,-0.5407672205602014,0.71338606911949],"aabb_xy":[[-0.4346101604255444,-0.5542000137618589],[-0.29461015722098544,-0.5273344273585437]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.18365852456610487,0.9044674363566232,0.71338606911949],"aabb_xy":[[-0.20066862185615553,0.8883329478583492],[-0.16664842727605422,0.920601924854897]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.0590344127297604,1.2975852964047654,0.71338606911949],"aabb_xy":[[-0.06702790252504243,1.28958716446429],[-0.05104092293447838,1.3055834283452412]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[-0.10796641161684284,0.5788802813904352,0.71338606911949],"aabb_xy":[[-0.17196640804416474,0.5317106575683388],[-0.043966415189520935,0.6260499052125317]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.16226216463427945,1.4287689182295344,0.71338606911949],"aabb_xy":[[0.15423589400365342,1.420017423252182],[0.17028843526490542,1.4375204132068873]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[0.30516613881315213,0.9676688012104617,0.71338606911949],"aabb_xy":[[0.2954101493039782,0.9579062671512272],[0.31492212832232597,0.9774313352696961]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[0.3548340864140269,-0.9253977329509921,0.71338606911949],"aabb_xy":[[0.3048340868376922,-0.9753783119030982],[0.40483408599036164,-0.8754171539988863]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.030337192900828924,1.7106082467506032,0.71338606911949],"aabb_xy":[[-0.019645757286650408,1.6606082471080428],[0.08032014308830825,1.7606082463931636]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[-0.0794956149946271,-1.1319611395944749,0.71338606911949],"aabb_xy":[[-0.08711988308480534,-1.1395943631310186],[-0.07187134690444885,-1.1243279160579311]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.37399803346314375,0.928723311765391,0.71338606911949],"aabb_xy":[[-0.4539980367271569,0.9151632794564776],[-0.2939980301991306,0.9422833440743043]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[0.5022259940880711,-0.5940038765256412,0.71338606911949],"aabb_xy":[[0.4609214510243351,-0.6580038760937582],[0.5435305371518071,-0.530003876957524]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[-0.3866782085996681,-1.0948285716726205,0.71338606911949],"aabb_xy":[[-0.393092022242853,-1.1012383919202886],[-0.3802643949564831,-1.088418751424952]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[0.28155583840201415,-1.2816082805813116,0.71338606911949],"aabb_xy":[[0.27741998206931395,-1.3191082800256686],[0.28569169473471434,-1.2441082811369546]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.07825077845399708,-2.1451526952326527,0.71338606911949],"aabb_xy":[[-0.1582507795271174,-2.154930741570037],[0.0017492226191232474,-2.1353746488952683]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_23","position":[-0.6584446348865477,-1.8028256227607065,0.71338606911949],"aabb_xy":[[-0.6623585080819703,-1.8115746381672633],[-0.6545307616911251,-1.7940766073541496]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[0.6149636232903135,0.9053378197167921,0.71338606911949],"aabb_xy":[[0.6108854653832638,0.9012568394685286],[0.6190417811973632,0.9094187999650553]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_25","position":[-0.5757499566459167,0.13912413905313725,0.71338606911949],"aabb_xy":[[-0.6557499552332361,0.05980853711497635],[-0.4957499580585973,0.21843974099129812]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[0.07703122823886777,-1.6342380057636836,0.71338606911949],"aabb_xy":[[0.07332796690972888,-1.637940024072401],[0.08073448956800662,-1.6305359874549654]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_27","position":[-0.6381993537891503,-2.0922084790535624,0.71338606911949],"aabb_xy":[[-0.644236366789815,-2.098235180122511],[-0.6321623407884855,-2.086181777984615]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_28","position":[-0.3157369127769417,1.1068039233624152,0.71338606911949],"aabb_xy":[[-0.36573691313750767,1.056823936152812],[-0.26573691241637554,1.156783910572018]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_29","position":[-0.269942362041403,-2.282047437103061,0.71338606911949],"aabb_xy":[[-0.3074423625387612,-2.2860161206511793],[-0.23244236154404474,-2.2780787535549423]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_30","position":[-0.4441466936767699,1.0702034378691003,0.71338606911949],"aabb_xy":[[-0.4619402006116864,1.0524036922733027],[-0.4263531867418535,1.088003183464898]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_31","position":[-0.6830327612529022,-0.6262985780940011,0.71338606911949],"aabb_xy":[[-0.6903150776295657,-0.7162985817035099],[-0.6757504448762384,-0.5362985744844919]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_32","position":[-0.14700735737721893,-1.466911772761906,0.71338606911949],"aabb_xy":[[-0.21100735765119716,-1.516977872959194],[-0.0830073571032407,-1.4168456725646181]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_33","position":[0.634596828061951,1.4407263125516727,0.71338606911949],"aabb_xy":[[0.5645968259305213,1.4179643469259768],[0.7045968301933804,1.4634882781773682]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_34","position":[-0.4845885904223549,-0.714148597593895,0.71338606911949],"aabb_xy":[[-0.5020885906674042,-0.7316483854334619],[-0.46708859017730553,-0.6966488097543282]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686047819524739,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6547.png","name":"6547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8257.png","name":"8257"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7338.png","name":"7338"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2167.png","name":"2167"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":773.590963931367,"rotation_z_degrees":270.2081390166206,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010958860341012639,0.01918625240692168,-0.01987227830633993]},{"name":"camera_2","offset_m":[-0.011573935724951578,0.0086975668455711,0.014751605293412313]},{"name":"camera_3","offset_m":[0.001680723060774724,-0.004266285886486778,-0.008209416852156393]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007544576580535648,-0.001468967073785084,0.0001404829463847201],"end_effector_yaw_offset_degrees":0.4234407189412148},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011047721750898907,0.0005841867442215186,-8.493107579632007e-05],"end_effector_yaw_offset_degrees":-0.9282058274721221},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004846323994006517,-0.0005937800215986555,-0.0014680186844116534],"end_effector_yaw_offset_degrees":-0.635598413962936}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002694623378232676,0.004124300668033373],"position_m":[0.2091053766217673,0.027924300668033374,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004904703185183122,-0.0016949832495508745],"position_m":[0.2696952968148169,-0.30929498324955085,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00027764409650166827,-0.004145660310868191],"position_m":[0.16332235590349833,0.2214543396891318,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004060400850106858,-0.00466550918574959],"position_m":[0.35776040085010685,0.1635344908142504,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ece9e07fa138e8badf1219ac3e2e6b19c8f0bb9426278f97465350d9d1554a88","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4418/tex_ceiling_textures_2167/tex_floor_textures_7338/tex_table_textures_6547/tex_wall_textures_8257","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3326405816099349557,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3326405816099349557,"visual_seed":3326405816099349557,"scene_id":"lab_003","finished_at":"2026-09-04T16:40:45"} +{"episode_id":"ep_000066","started_at":"2026-09-04T16:40:47","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.07220774524305118,-2.202451877557685,0.71338606911949],"aabb_xy":[[-0.0782447582437159,-2.2084785786266337],[-0.06617073224238645,-2.1964251764887375]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.20068692000930333,1.3215700572618458,0.71338606911949],"aabb_xy":[[-0.2646869232279412,1.2748469453628377],[-0.1366869167906655,1.3682931691608544]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.19103675581125468,1.716402495124839,0.71338606911949],"aabb_xy":[[-0.25503675439782714,1.66939553172533],[-0.12703675722468225,1.7634094585243474]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.3851392825696802,0.2211023042367457,0.71338606911949],"aabb_xy":[[-0.3921795925032173,0.1411023048370743],[-0.37809897263614334,0.3011023036364171]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[0.030475502226410822,1.579151385264654,0.71338606911949],"aabb_xy":[[-0.003821408791329802,1.5448544990547126],[0.06477241324415145,1.6134482714745952]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[0.5618782904840063,0.4411763383313083,0.71338606911949],"aabb_xy":[[0.5205737474202702,0.3771763387631912],[0.6031828335477422,0.5051763378994254]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.10408683597685264,1.016216939957502,0.71338606911949],"aabb_xy":[[0.05408683461596544,0.9662390353820866],[0.15408683733773987,1.0661948445329177]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.3973893958103753,-0.9046026864557042,0.71338606911949],"aabb_xy":[[-0.41001618309757165,-0.9141487601572771],[-0.38476260852317895,-0.8950566127541313]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[0.021493898696218983,-0.706718196608739,0.71338606911949],"aabb_xy":[[-0.04250610157775925,-0.756784296806027],[0.08549389897019721,-0.6566520964114511]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.5046156994237507,1.472641829674489,0.71338606911949],"aabb_xy":[[0.4671156992518787,1.4399410942915813],[0.5421156995956226,1.5053425650573957]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[-0.4704715299456199,-1.1220929869928948,0.71338606911949],"aabb_xy":[[-0.4743854031410425,-1.1308420023994517],[-0.46655765675019745,-1.113343971586338]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.08312231142483417,-1.7440833724121316,0.71338606911949],"aabb_xy":[[-0.10812231135735208,-1.7509660406330552],[-0.058122311492316295,-1.7372007041912085]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.02997733427545546,0.9494173236335595,0.71338606911949],"aabb_xy":[[-0.045140207252392546,0.9342518663384409],[-0.014814461298518381,0.9645827809286784]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[0.03630659616411991,1.4313030527029817,0.71338606911949],"aabb_xy":[[-0.025284163059872904,1.367303054593935],[0.09789735538811273,1.4953030508120289]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[-0.6182145904562923,-1.0829801925159896,0.71338606911949],"aabb_xy":[[-0.6822145925060243,-1.1230746756052976],[-0.5542145884065603,-1.0428857094266817]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.45177671081652515,-1.049763453067781,0.71338606911949],"aabb_xy":[[0.3717767136569498,-1.061311054025598],[0.5317767079761004,-1.038215852109964]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[0.02667655558876514,-2.3174920300722386,0.71338606911949],"aabb_xy":[[0.007792171820254934,-2.336377954852592],[0.04556093935727534,-2.2986061052918862]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[-0.2611662449563583,-0.13813578578514596,0.71338606911949],"aabb_xy":[[-0.3261662459568588,-0.18892215093982087],[-0.19616624395585774,-0.08734942063047099]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.6093230635999876,-2.3681171152712177,0.71338606911949],"aabb_xy":[[0.5493230637534208,-2.424935737464257],[0.6693230634465543,-2.3112984930781795]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[-0.32197265838211114,-1.0968144540582603,0.71338606911949],"aabb_xy":[[-0.3859726586425819,-1.1418232534111878],[-0.2579726581216403,-1.0518056547053318]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.06199710923082258,-1.182440576052314,0.71338606911949],"aabb_xy":[[-0.002002891472646783,-1.228458958525235],[0.12599710993429192,-1.136422193579393]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.18244238431553117,-2.1803839575141395,0.71338606911949],"aabb_xy":[[-0.2037203924590034,-2.2453839598402126],[-0.1611643761720589,-2.1153839551880664]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.4151987482775612,-0.5338596518976191,0.71338606911949],"aabb_xy":[[0.33519874720444087,-0.5436376982350035],[0.49519874935068153,-0.5240816055602346]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[0.6280458106235958,0.932610107301755,0.71338606911949],"aabb_xy":[[0.6104675084346489,0.9150356177276501],[0.6456241128125426,0.9501845968758599]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[0.26373475555777603,0.5328843241821013,0.71338606911949],"aabb_xy":[[0.21764966430304458,0.4688843269295461],[0.3098198468125075,0.5968843214346563]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[-0.33187414150435207,1.4675159988074884,0.71338606911949],"aabb_xy":[[-0.33720665615896506,1.462191670562253],[-0.3265416268497391,1.4728403270527242]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_26","position":[-0.4799546044521897,1.446058523049842,0.71338606911949],"aabb_xy":[[-0.512416305334117,1.4159256909349391],[-0.44749290357026217,1.4761913551647443]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[-0.5244691265717918,0.21116684867540414,0.71338606911949],"aabb_xy":[[-0.5321723172458687,0.2034574779766661],[-0.5167659358977147,0.21887621937414212]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_28","position":[-0.3937169234109345,0.3660247404721826,0.71338606911949],"aabb_xy":[[-0.4162169229346419,0.3435287930215618],[-0.3712169238872271,0.38852068792280336]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[0.5879540837502575,-0.9310257177146906,0.71338606911949],"aabb_xy":[[0.5761858969556,-1.0160257176199123],[0.599722270544915,-0.8460257178094692]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_30","position":[-0.6314160855372289,-0.912050260181835,0.71338606911949],"aabb_xy":[[-0.64328816854873,-0.9970502598754853],[-0.6195440025257278,-0.8270502604881846]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_31","position":[0.35215621888020965,1.0736950601734585,0.71338606911949],"aabb_xy":[[0.3171562205695142,1.065980045249913],[0.3871562171909051,1.0814100750970044]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_32","position":[0.26177588432424936,-1.7068824818544994,0.71338606911949],"aabb_xy":[[0.21189318744655322,-1.7568824811007744],[0.3116585812019456,-1.656882482608225]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6728859367792642,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3276.png","name":"3276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3276.png","name":"3276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7923.png","name":"7923"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2661.png","name":"2661"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7512.png","name":"7512"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1292.png","name":"1292"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":740.5714083165873,"rotation_z_degrees":205.39204606114353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008253738870887272,0.007746527224900421,0.013988378495166012]},{"name":"camera_2","offset_m":[0.007091542698882746,0.0002721564416856559,0.01331740472649991]},{"name":"camera_3","offset_m":[0.016849005608945863,0.006176155758066976,0.0020549175876255314]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010060352592702437,-0.0003732787043547682,0.0009442892365582336],"end_effector_yaw_offset_degrees":0.8459850895426635},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011606829863791191,-0.0017441665936733118,-0.0017397114973553625],"end_effector_yaw_offset_degrees":0.4065271245890163},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00031423264640469215,-0.0018815544501637404,0.00017774321034025537],"end_effector_yaw_offset_degrees":0.7579266253621673}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014778061489021089,-0.00287135605329358],"position_m":[0.21032219385109788,0.020928643946706422,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026734400360742313,0.003683670706934014],"position_m":[0.27727344003607424,-0.30391632929306595,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021170953884077416,-0.001658760439642555],"position_m":[0.16148290461159226,0.22394123956035744,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037221597246290877,-0.003288017397775591],"position_m":[0.3574221597246291,0.1649119826022244,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"44634804a3567d295247469b79bf3eb2eb9e036a16a1ba9cfa81e6206601fd08","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3276/tex_ceiling_textures_1292/tex_floor_textures_7512/tex_table_textures_7923/tex_wall_textures_2661","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6232844632712798134,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6232844632712798134,"visual_seed":6232844632712798134,"scene_id":"lab_003","finished_at":"2026-09-04T16:43:01"} +{"episode_id":"ep_000067","started_at":"2026-09-04T16:43:04","dimensions":{"distractor":{"count":24,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[-0.3991958972691795,-1.7143680024601968,0.71338606911949],"aabb_xy":[[-0.4109640840638371,-1.7993680023654184],[-0.38742771047452207,-1.6293680025549753]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[0.4152879979696231,1.1463140282981379,0.71338606911949],"aabb_xy":[[0.40766372987944505,1.1386808047615942],[0.42291226605980153,1.1539472518346816]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[0.3570000341558057,-1.3244479026728582,0.71338606911949],"aabb_xy":[[0.34895667422985055,-1.4094479037682246],[0.3650433940817609,-1.2394479015774917]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.39938875987208866,-0.961716599678045,0.71338606911949],"aabb_xy":[[0.38175592427856103,-0.979339545693668],[0.4170215954656162,-0.944093653662422]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[0.6132728292845759,1.077390800230516,0.71338606911949],"aabb_xy":[[0.5941605219265971,1.058256021353274],[0.6323851366425548,1.096525579107758]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.04328018896235297,1.7153168789354774,0.71338606911949],"aabb_xy":[[0.006485555837446699,1.6784110038388949],[0.08007482208725925,1.7522227540320594]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.19496901170154002,0.7459910751902292,0.71338606911949],"aabb_xy":[[-0.25996901270204054,0.6952047100355543],[-0.1299690107010395,0.7967774403449042]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[0.5121543292422248,0.2992828747507086,0.71338606911949],"aabb_xy":[[0.46687571436107556,0.2352828754025249],[0.5574329441233741,0.36328287409889226]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.3543482838888317,0.907156913724525,0.71338606911949],"aabb_xy":[[-0.3651212578101995,0.872156915505486],[-0.34357530996746394,0.942156911943564]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.2449190632981375,0.41943207304832875,0.71338606911949],"aabb_xy":[[-0.29491906465902473,0.3694541684729131],[-0.19491906193725028,0.46940997762374437]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.13854637973691297,1.5626999003583708,0.71338606911949],"aabb_xy":[[0.12667429672541186,1.4776999006647205],[0.15041846274841408,1.6476999000520212]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.6228637514961978,-1.782873233993206,0.71338606911949],"aabb_xy":[[-0.6699931304980332,-1.8468732350376078],[-0.5757343724943619,-1.718873232948804]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[0.4854931490234553,0.058504450485315385,0.71338606911949],"aabb_xy":[[0.4214931517378066,0.016997731532471416],[0.549493146309104,0.10001116943815935]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.5805164630746273,-0.8657709187725138,0.71338606911949],"aabb_xy":[[-0.5994008468431377,-0.8846568435528666],[-0.5616320793061172,-0.846884993992161]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.5341239915465211,-2.069723944631189,0.71338606911949],"aabb_xy":[[-0.5579602091871263,-2.159723945439676],[-0.5102877739059162,-1.979723943822703]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.3349271145346411,-1.8149330818306098,0.71338606911949],"aabb_xy":[[0.29929795863468134,-1.8505657485874625],[0.3705562704346008,-1.7793004150737566]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.26236332063627044,-0.8400566987498936,0.71338606911949],"aabb_xy":[[-0.32636332297907195,-0.884997549994026],[-0.19836331829346884,-0.795115847505761]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[0.11763946210421594,-1.2761038340490312,0.71338606911949],"aabb_xy":[[0.027952385796100487,-1.3661038343034817],[0.2073265384123314,-1.1861038337945806]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.11944415766475791,-2.4473243540905543,0.71338606911949],"aabb_xy":[[0.10189746274863896,-2.4848243556548057],[0.13699085258087684,-2.409824352526303]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[-0.5535245667851201,0.8491283350595231,0.71338606911949],"aabb_xy":[[-0.6185245677422473,0.7971801231258175],[-0.4885245658279929,0.9010765469932287]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[0.46461581037200284,-2.4268265941512452,0.71338606911949],"aabb_xy":[[0.4146158100114367,-2.4768065813608477],[0.5146158107325688,-2.376846606941642]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.4073308500906787,-1.5918488111880884,0.71338606911949],"aabb_xy":[[0.3960857945200608,-1.6030906089121835],[0.4185759056612965,-1.580607013463993]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.4694601822871146,-1.1347152312608562,0.71338606911949],"aabb_xy":[[-0.5194332478196302,-1.184715231073389],[-0.41948711675459927,-1.0847152314483233]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.355014607475453,1.7375572109495496,0.71338606911949],"aabb_xy":[[0.3446030487949693,1.732211477613651],[0.3654261661559367,1.7429029442854478]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.666235204883869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2239.png","name":"2239"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2239.png","name":"2239"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5992.png","name":"5992"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4017.png","name":"4017"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5038.png","name":"5038"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/115.png","name":"115"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":539.1059799037614,"rotation_z_degrees":14.818659277280561,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0062824084811285135,-0.01696887191007628,-2.4364361353522435e-05]},{"name":"camera_2","offset_m":[0.011180074831185459,0.01349168749874632,-0.005302918654753616]},{"name":"camera_3","offset_m":[-0.013590788325484864,0.01968815484910504,-0.011362048586742328]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010720723826477632,-0.00123032641743522,-0.0006198197543825583],"end_effector_yaw_offset_degrees":-0.8866935934182285},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003838767347118478,-0.0017105512517871055,-0.001518349420082199],"end_effector_yaw_offset_degrees":0.6804085640466808},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00028515430064405753,0.0013936662500745314,0.0012701431944490767],"end_effector_yaw_offset_degrees":-0.2771809038151296}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002438154550331989,0.004047315991839827],"position_m":[0.214238154550332,0.02784731599183983,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00475828087637416,0.0037466512597932227],"position_m":[0.26984171912362587,-0.30385334874020675,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023303054130909507,0.003227983328871419],"position_m":[0.16593030541309095,0.22882798332887141,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013519978379821704,-0.004998462752002452],"position_m":[0.3550519978379822,0.16320153724799755,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9d980a2cbc63cb61a0d1b621f2342d807d3ff26daa30d8e95e7d86082afe6a6b","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2239/tex_ceiling_textures_115/tex_floor_textures_5038/tex_table_textures_5992/tex_wall_textures_4017","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6812157316401186031,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6812157316401186031,"visual_seed":6812157316401186031,"scene_id":"lab_003","finished_at":"2026-09-04T16:45:43"} +{"episode_id":"ep_000068","started_at":"2026-09-04T16:45:47","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.45765046237062235,-1.4071058210195855,0.71338606911949],"aabb_xy":[[0.4324296255107827,-1.4323295718724718],[0.482871299230462,-1.3818820701666983]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[-0.21910677787557709,-1.9225182458782863,0.71338606911949],"aabb_xy":[[-0.28410677603149614,-1.9488144904281988],[-0.15410677971965805,-1.8962220013283744]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[0.11027467676951264,-0.7400296230975583,0.71338606911949],"aabb_xy":[[0.04527467581238543,-0.7919778350312638],[0.17527467772663985,-0.6880814111638527]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.10097566760520083,1.407641694699691,0.71338606911949],"aabb_xy":[[-0.18097567086921396,1.3940816623907775],[-0.020975664341187694,1.4212017270086041]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[-0.23448353453358228,-0.3956009116123864,0.71338606911949],"aabb_xy":[[-0.31448353193717565,-0.4755934828105691],[-0.15448353712998883,-0.3156083404142035]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.5685734228655535,-1.6857791337618426,0.71338606911949],"aabb_xy":[[0.550779915930637,-1.7035788793576403],[0.5863669298004699,-1.667979388166045]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.5203264490849422,-1.9688433398422849,0.71338606911949],"aabb_xy":[[-0.5362109423502673,-1.983196280141109],[-0.504441955819617,-1.9544903995434608]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.19612523616235045,0.7075274450142439,0.71338606911949],"aabb_xy":[[-0.2601252347489229,0.6605204816147352],[-0.132125237575778,0.7545344084137526]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.3150636818040569,0.2691252335686789,0.71338606911949],"aabb_xy":[[-0.3306194512143222,0.25357480032427177],[-0.29950791239379165,0.28467566681308615]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[-0.3369317230026132,-1.096336484666957,0.71338606911949],"aabb_xy":[[-0.4169255465811715,-1.1763364872597986],[-0.25693789942405504,-1.0163364820741154]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[-0.1849485909873455,-2.484461748357319,0.71338606911949],"aabb_xy":[[-0.2749485933213646,-2.561944102942431],[-0.0949485886533265,-2.4069793937722057]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.701445681693126,0.8591371684943545,0.71338606911949],"aabb_xy":[[0.6785299688080763,0.836232871357931],[0.724361394578176,0.882041465630778]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.5709671967756051,1.291764773177361,0.71338606911949],"aabb_xy":[[0.5608854896970316,1.211764775285246],[0.5810489038541785,1.3717647710694754]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.3192286657179477,-0.8597619351395385,0.71338606911949],"aabb_xy":[[-0.3442286656504656,-0.8666446033604619],[-0.29422866578542983,-0.8528792669186153]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[-0.47371304021408156,-0.31133299507404466,0.71338606911949],"aabb_xy":[[-0.48977496767259915,-0.3963329968866365],[-0.45765111275556386,-0.22633299326145287]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[-0.3595765089126121,-1.5715766519423306,0.71338606911949],"aabb_xy":[[-0.3786888162705909,-1.5907114308195727],[-0.3404642015546332,-1.5524418730650886]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.15454483413363163,-0.9022916546947788,0.71338606911949],"aabb_xy":[[0.09054483375609801,-0.9520369215455909],[0.21854483451116524,-0.8525463878439664]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.4008270544019125,1.6872693206946168,0.71338606911949],"aabb_xy":[[-0.4508220653613646,1.6372693216590253],[-0.3508320434424605,1.7372693197302087]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.27570459549893267,1.5175651388197058,0.71338606911949],"aabb_xy":[[0.22070459632234313,1.4625754640447481],[0.3307045946755221,1.5725548135946634]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.2715862921162848,1.113742715838634,0.71338606911949],"aabb_xy":[[0.25371718436182933,1.099909807861423],[0.2894553998707403,1.127575623815845]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.02776862237087896,-2.375134258580086,0.71338606911949],"aabb_xy":[[-0.045268622615928344,-2.3926340464196523],[-0.010268622125829576,-2.3576344707405186]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6731556835426286,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3487.png","name":"3487"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3487.png","name":"3487"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4296.png","name":"4296"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8443.png","name":"8443"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4686.png","name":"4686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6523.png","name":"6523"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":795.7151410813136,"rotation_z_degrees":327.94274459802807,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014473714008185336,0.0021965844741977034,0.008561619147644226]},{"name":"camera_2","offset_m":[0.013377080714083566,0.019378483248025862,-0.005797857137223859]},{"name":"camera_3","offset_m":[-0.005213704013040036,-0.006104853278523796,-0.017021623718240547]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018872175073602762,0.0009103677471886669,0.0002674119548748189],"end_effector_yaw_offset_degrees":0.5651459718160099},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017302344947811156,0.00019174245651325727,0.0008683145916293096],"end_effector_yaw_offset_degrees":-0.163555491649227},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013097084576837409,-0.001625360023221175,0.00024457382122965166],"end_effector_yaw_offset_degrees":-0.012534228534847092}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022511308606461356,0.004312670586297769],"position_m":[0.21405113086064612,0.02811267058629777,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003115485178413739,0.003959947327478972],"position_m":[0.27771548517841377,-0.30364005267252103,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002369106240770861,-0.004298146870703448],"position_m":[0.16596910624077085,0.22130185312929654,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023814918146206,-0.00041351417942231666],"position_m":[0.3513185081853794,0.16778648582057767,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e83be998e0a347cede8d0c1d2aa0bb7d4fa4b2b40d4a1ad92ffdad8de423d22e","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3487/tex_ceiling_textures_6523/tex_floor_textures_4686/tex_table_textures_4296/tex_wall_textures_8443","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5777214946271896127,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5777214946271896127,"visual_seed":5777214946271896127,"scene_id":"lab_003","finished_at":"2026-09-04T16:48:20"} +{"episode_id":"ep_000069","started_at":"2026-09-04T16:48:22","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.4245818724190793,0.8685649531248041,0.71338606911949],"aabb_xy":[[0.3880860517918005,0.8320810106980463],[0.461077693046358,0.9050488955515614]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.41003998079792614,1.494135986751544,0.71338606911949],"aabb_xy":[[-0.46003925596636236,1.4441359854755966],[-0.36004070562949003,1.544135988027491]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[-0.3820240700212456,0.044517596375367674,0.71338606911949],"aabb_xy":[[-0.3933858046745317,0.033149129969079594],[-0.3706623353679594,0.055886062781655754]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[-0.15708972402150934,0.08030343345319269,0.71338606911949],"aabb_xy":[[-0.22208972257858217,0.05055090003931005],[-0.0920897254644365,0.11005596686707529]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.18989976388004592,-1.2902654046923272,0.71338606911949],"aabb_xy":[[0.11989976124345955,-1.3103702696881925],[0.25989976651663227,-1.2701605396964615]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[-0.5942316440832651,-2.413772966343715,0.71338606911949],"aabb_xy":[[-0.6582273414783617,-2.4777729646444233],[-0.5302359466881685,-2.349772968043006]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.38642173710239225,0.31549400968090646,0.71338606911949],"aabb_xy":[[-0.420884084500534,0.2810001272830837],[-0.3519593897042504,0.3499878920787291]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[0.5929973926605179,-2.160684550508663,0.71338606911949],"aabb_xy":[[0.5753645570669902,-2.1783074965242855],[0.6106302282540453,-2.1430616044930395]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[-0.29848427790212934,-2.1020480425972305,0.71338606911949],"aabb_xy":[[-0.3359842780740012,-2.1347487779801373],[-0.26098427773025734,-2.069347307214323]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.10600332093994291,-1.6781377267180941,0.71338606911949],"aabb_xy":[[-0.17000332261794027,-1.7266551181974084],[-0.042003319261945546,-1.62962033523878]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[-0.4029979074629947,-0.9325185615147196,0.71338606911949],"aabb_xy":[[-0.4415436002881957,-0.9710643325709081],[-0.36445221463779365,-0.8939727904585308]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[0.6727360577289463,-0.13537225444738832,0.71338606911949],"aabb_xy":[[0.668775573959212,-0.14304011903290892],[0.6766965414986807,-0.12770438986186772]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[0.5878386560735855,0.20571508001484773,0.71338606911949],"aabb_xy":[[0.5780826665644117,0.19595254595561326],[0.5975946455827594,0.21547761407408214]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.05723167703813681,-1.1862001924722647,0.71338606911949],"aabb_xy":[[-0.11723167763415299,-1.2410126650174884],[0.0027683235578793777,-1.1313877199270415]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[-0.37707731571328795,-1.4130010675120137,0.71338606911949],"aabb_xy":[[-0.46207731413071124,-1.4978753629742987],[-0.2920773172958648,-1.3281267720497287]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.6283088649803426,-1.2098795000788884,0.71338606911949],"aabb_xy":[[0.5483088617163294,-1.2234395323878018],[0.7083088682443557,-1.196319467769975]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.256770736274865,0.8032291637312783,0.71338606911949],"aabb_xy":[[0.23427431484100097,0.780729163924531],[0.2792671577087292,0.8257291635380258]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[0.09885253957461015,1.6258572406980192,0.71338606911949],"aabb_xy":[[0.06293903514962046,1.5899437324812644],[0.13476604399959985,1.6617707489147735]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.287726570557881,1.2426173074088132,0.71338606911949],"aabb_xy":[[0.2577590136480553,1.2126173071109276],[0.31769412746770664,1.2726173077066991]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[-0.36591995765157764,-0.33450751758180175,0.71338606911949],"aabb_xy":[[-0.4559199541524493,-0.38041916000025994],[-0.2759199611507058,-0.28859587516334345]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_20","position":[0.5131814166383373,-1.7554606408315812,0.71338606911949],"aabb_xy":[[0.495505786049739,-1.7731408571109837],[0.5308570472269356,-1.7377804245521782]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.25603344217173285,-2.369428131301097,0.71338606911949],"aabb_xy":[[0.23386091519508195,-2.3916037984572203],[0.27820596914838364,-2.347252464144974]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.3695256791743997,-1.1301814849898368,0.71338606911949],"aabb_xy":[[0.3195256788138336,-1.1801614721994398],[0.4195256795349657,-1.0802014977802339]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[-0.5619546383393241,1.2745169316767098,0.71338606911949],"aabb_xy":[[-0.5994546367627245,1.2613527177088788],[-0.5244546399159238,1.2876811456445403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702074996695497,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4834.png","name":"4834"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4834.png","name":"4834"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1491.png","name":"1491"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9537.png","name":"9537"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4763.png","name":"4763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/811.png","name":"811"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":804.449001714754,"rotation_z_degrees":342.12245461784994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017213357773143756,0.01297832205971879,-0.018217987759640945]},{"name":"camera_2","offset_m":[-0.016359990028017652,-0.0033677172272975897,0.014307125719626428]},{"name":"camera_3","offset_m":[0.002416542253710928,0.013362042810353827,0.007309588406009645]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007600384241105776,-0.0016277864527606326,-4.445433011546424e-05],"end_effector_yaw_offset_degrees":-0.7650046004715514},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00023602800623637524,-0.0007516351086845595,-0.0001362469437373641],"end_effector_yaw_offset_degrees":0.4952140209580618},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008329960623454312,-0.0013500459431608203,0.0016503370581352848],"end_effector_yaw_offset_degrees":-0.02241877978970752}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000656826633550771,0.0013023445759439492],"position_m":[0.21114317336644922,0.02510234457594395,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016784205694742728,0.001048311407211482],"position_m":[0.27292157943052575,-0.30655168859278853,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009094867551293229,0.0004823175992533721],"position_m":[0.16269051324487066,0.22608231759925337,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0044459095342276505,0.00486485929866285],"position_m":[0.35814590953422765,0.17306485929866283,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba2d89a28ab1641e06bc237de9b612731307f1689ad8c3ec85b3b22e196f00a4","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4834/tex_ceiling_textures_811/tex_floor_textures_4763/tex_table_textures_1491/tex_wall_textures_9537","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3651087365703433395,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3651087365703433395,"visual_seed":3651087365703433395,"scene_id":"lab_003","finished_at":"2026-09-04T16:50:54"} +{"episode_id":"ep_000070","started_at":"2026-09-04T16:50:57","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.1338342572226331,0.32147019975003754,0.71338606911949],"aabb_xy":[[-0.20383426061419505,0.2861544260466067],[-0.0638342538310711,0.3567859734534684]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[0.33064776487594894,-2.282323090931733,0.71338606911949],"aabb_xy":[[0.26664776253314737,-2.3272639421758656],[0.3946477672187505,-2.2373822396876006]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.4629671068300927,-1.0185181224353672,0.71338606911949],"aabb_xy":[[-0.471665069120808,-1.030643096742842],[-0.45426914453937745,-1.0063931481278925]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[-0.31993530188915204,-0.3926539146232484,0.71338606911949],"aabb_xy":[[-0.37003276587022566,-0.45665391513306025],[-0.2698378379080784,-0.32865391411343664]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.6079281163445615,-0.3595642912003765,0.71338606911949],"aabb_xy":[[-0.6160417710179386,-0.36767010765440555],[-0.5998144616711844,-0.3514584747463474]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.048830001060937045,1.7019097696336165,0.71338606911949],"aabb_xy":[[-0.12882999822051233,1.6903621686757995],[0.03116999609863825,1.7134573705914335]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.12989278650898717,-0.7079760916064761,0.71338606911949],"aabb_xy":[[-0.2098927875821075,-0.7177541379438604],[-0.04989278543586684,-0.6981980452690916]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.20397598324863742,-2.296532553106969,0.71338606911949],"aabb_xy":[[-0.20943392888565746,-2.376532556414628],[-0.19851803761161732,-2.2165325497993096]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.5564508759863256,0.17474863177541655,0.71338606911949],"aabb_xy":[[0.5214508760903066,0.16637439626347664],[0.5914508758823444,0.18312286728735652]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[0.4852836725319294,1.3356965734350044,0.71338606911949],"aabb_xy":[[0.4252836708890076,1.2836964241430602],[0.5452836741748512,1.3876967227269486]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[0.6473600334304066,-0.6184102654053099,0.71338606911949],"aabb_xy":[[0.6173924765205809,-0.6484102657031956],[0.6773275903402323,-0.5884102651074241]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.4762668457552445,-1.7913049585017142,0.71338606911949],"aabb_xy":[[-0.5562668431588378,-1.8712975296998968],[-0.39626684835165105,-1.7113123873035312]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.4933652599079542,0.14283226249541858,0.71338606911949],"aabb_xy":[[-0.5027122674902494,0.12852864027777455],[-0.484018252325659,0.1571358847130626]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[-0.04174424073260141,-1.4919298723818823,0.71338606911949],"aabb_xy":[[-0.13174424306662047,-1.569412226966995],[0.04825576160141764,-1.4144475177967697]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[0.4962652997187684,-2.049951502663449,0.71338606911949],"aabb_xy":[[0.4662736369848981,-2.0799515020002497],[0.5262569624526388,-2.0199515033266486]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[0.3058934092980945,1.13226346619853,0.71338606911949],"aabb_xy":[[0.2978500493721393,1.0472634651031636],[0.31393676922404967,1.2172634672938965]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.44652832865175185,0.04411873323817783,0.71338606911949],"aabb_xy":[[-0.450958958006592,0.03867036150349524],[-0.4420976992969117,0.04956710497286044]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[0.14691623672389154,1.4412336620038402,0.71338606911949],"aabb_xy":[[0.12440254490043434,1.3712336614028326],[0.16942992854734873,1.5112336626048477]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.030607631753862163,-2.336258669413068,0.71338606911949],"aabb_xy":[[-0.019392366892059032,-2.3861782130725304],[0.08060763039978336,-2.2863391257536057]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.3814634181248697,0.6803909543548556,0.71338606911949],"aabb_xy":[[0.34413214159962713,0.6457378995600035],[0.4187946946501123,0.715044009149708]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[-0.056490067837943636,1.1496680035662359,0.71338606911949],"aabb_xy":[[-0.08513940019835986,1.1210224442891596],[-0.027840735477527412,1.1783135628433112]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[0.5604301178954179,1.0758469133198472,0.71338606911949],"aabb_xy":[[0.5254301187025995,1.0648798673221844],[0.595430117088236,1.0868139593175095]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.25156953027433726,0.5021995956941945,0.71338606911949],"aabb_xy":[[-0.26763145773285485,0.4171995938816026],[-0.2355076028158196,0.5871995975067862]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[-0.508226834312911,-1.243224681528621,0.71338606911949],"aabb_xy":[[-0.5260203412478275,-1.2610244271244184],[-0.4904333273779946,-1.225424935932823]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[-0.5700018536361269,0.9180540195586797,0.71338606911949],"aabb_xy":[[-0.6240174499180268,0.8540540166664224],[-0.5159862573542268,0.9820540224509368]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[-0.17982463254961523,-1.3584438415234668,0.71338606911949],"aabb_xy":[[-0.21732463289784298,-1.3702352371045503],[-0.14232463220138747,-1.3466524459423832]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[-0.20612443888638032,-0.7828833710450569,0.71338606911949],"aabb_xy":[[-0.24112444023786206,-0.8032431070018776],[-0.1711244375348986,-0.762523635088236]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_27","position":[0.5852063726049928,0.7182042765206003,0.71338606911949],"aabb_xy":[[0.5212063703845856,0.6738311923953119],[0.6492063748253997,0.7625773606458884]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_28","position":[0.039869405031141336,-2.0023484243293534,0.71338606911949],"aabb_xy":[[0.017369404519100733,-2.0248402826947514],[0.062369405543181926,-1.9798565659639547]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_29","position":[0.5368182252142295,-2.214272446787656,0.71338606911949],"aabb_xy":[[0.49931822454965075,-2.2299595047878777],[0.5743182258788081,-2.1985853887874334]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.676077345459739,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9614.png","name":"9614"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9614.png","name":"9614"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7848.png","name":"7848"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2991.png","name":"2991"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/693.png","name":"693"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/860.png","name":"860"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":650.452694967776,"rotation_z_degrees":217.27882518272716,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013617919680801638,-0.0031897848049922094,-0.0005934879388400371]},{"name":"camera_2","offset_m":[0.009519336290902937,0.018790388589953504,0.015703309940890853]},{"name":"camera_3","offset_m":[0.00973910394668404,0.006134620591935688,0.018252340829534346]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010594244031590233,-0.0014015559152873883,-0.00155133310033185],"end_effector_yaw_offset_degrees":0.3570310934806633},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012058286678954286,0.0016541790011512323,0.0005641940529099452],"end_effector_yaw_offset_degrees":-0.8024161262787761},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015062891284473904,-0.0007017579740329163,-0.0007269078797084779],"end_effector_yaw_offset_degrees":0.9887929797114516}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002582752043763733,-0.00400723506031435],"position_m":[0.20921724795623625,0.019792764939685653,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034585967122843864,-0.0017974912293826483],"position_m":[0.2780585967122844,-0.30939749122938265,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004807964357326407,-0.001990685728123416],"position_m":[0.1684079643573264,0.22360931427187658,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004455358826701684,0.0006414070265326642],"position_m":[0.34924464117329834,0.16884140702653266,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b5198dc81fd1b865a3f943b448100b054754c38ceade432abb1dd3f85022839f","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9614/tex_ceiling_textures_860/tex_floor_textures_693/tex_table_textures_7848/tex_wall_textures_2991","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4005487506696663634,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4005487506696663634,"visual_seed":4005487506696663634,"scene_id":"lab_003","finished_at":"2026-09-04T16:53:27"} +{"episode_id":"ep_000071","started_at":"2026-09-04T16:53:29","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[0.5477667870715162,-1.718121484364287,0.71338606911949],"aabb_xy":[[0.4877667868201149,-1.7724028094007511],[0.6077667873229172,-1.6638401593278218]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.621127858703157,-0.9997903623828974,0.71338606911949],"aabb_xy":[[-0.6661204454216073,-1.0447903616573462],[-0.5761352719847065,-0.9547903631084487]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.4490379257269144,-1.9810945190820515,0.71338606911949],"aabb_xy":[[-0.48403792485687,-1.9868397401577156],[-0.4140379265969587,-1.9753492980063874]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.1158744950811651,-2.033664741368147,0.71338606911949],"aabb_xy":[[0.05187449179145697,-2.076999660372064],[0.1798744983708732,-1.990329822364229]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[0.07439434908635034,-2.337857249421551,0.71338606911949],"aabb_xy":[[0.06735403915281336,-2.4178572488212224],[0.08143465901988735,-2.2578572500218796]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.6936884886017198,-2.288646874957168,0.71338606911949],"aabb_xy":[[0.6770113526086242,-2.3053467989310987],[0.7103656245948152,-2.271946950983238]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.445932343929369,1.7483385491938557,0.71338606911949],"aabb_xy":[[0.4380090636906206,1.7258385489558523],[0.45385562416811726,1.770838549431859]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[-0.2785581291561502,-1.3045745683024832,0.71338606911949],"aabb_xy":[[-0.33257372543805014,-1.3685745711947404],[-0.22454253287425013,-1.240574565410226]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[-0.3430521129301887,-0.6196024620784035,0.71338606911949],"aabb_xy":[[-0.42305211008976396,-0.6311500630362205],[-0.2630521157706134,-0.6080548611205864]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[0.13872743892758854,1.6926897465671256,0.71338606911949],"aabb_xy":[[0.05872744196454935,1.615614104923352],[0.21872743589062768,1.7697653882108988]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.2645178202698049,-0.8142556072542741,0.71338606911949],"aabb_xy":[[-0.28152791755985557,-0.830390095752548],[-0.24750772297975426,-0.7981211187560001]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.5230604177802081,-1.3511746256296053,0.71338606911949],"aabb_xy":[[-0.5600945272082677,-1.3855518329633147],[-0.4860263083521482,-1.316797418295896]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.10469712525061403,0.601907935810106,0.71338606911949],"aabb_xy":[[0.08719712611624685,0.5920283087725181],[0.12219712438498119,0.6117875628476938]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[-0.12047932773776104,0.20672746311173018,0.71338606911949],"aabb_xy":[[-0.14570016459760068,0.18150371225884337],[-0.09525849087792136,0.23195121396461688]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.6319376542028818,-0.0396628761662674,0.71338606911949],"aabb_xy":[[0.5519376562220968,-0.04726441712811935],[0.7119376521836669,-0.03206133520441545]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.46335518084077143,0.2659185236393671,0.71338606911949],"aabb_xy":[[-0.48585160227463553,0.24341852383261964],[-0.44085875940690733,0.2884185234461145]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.1661210598402455,-2.469079524283294,0.71338606911949],"aabb_xy":[[-0.2036210613558772,-2.480306297299439],[-0.1286210583246138,-2.457852751267149]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.5954318518693066,1.1968317821244412,0.71338606911949],"aabb_xy":[[-0.617931851683209,1.1923571657539604],[-0.5729318520554042,1.201306398494922]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.716738327590019,1.012427565448673,0.71338606911949],"aabb_xy":[[0.711782307405138,0.9899275652465516],[0.7216943477749004,1.0349275656507948]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[-0.09615469210992178,-2.2526597034541296,0.71338606911949],"aabb_xy":[[-0.16615469391866722,-2.2740134722183174],[-0.026154690301176342,-2.2313059346899426]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[-0.15633399530375658,-1.025923001161533,0.71338606911949],"aabb_xy":[[-0.16044994541582921,-1.0300385561943783],[-0.1522180451916839,-1.0218074461286872]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[-0.2742362942711748,-2.2200587727290606,0.71338606911949],"aabb_xy":[[-0.29178298918729373,-2.2575587742933116],[-0.25668959935505586,-2.1825587711648096]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_22","position":[0.35399826526661715,-2.5085058010142025,0.71338606911949],"aabb_xy":[[0.31274945423670236,-2.5635058005264195],[0.39524707629653183,-2.4535058015019846]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[-0.4876006513417034,-2.0535323304176627,0.71338606911949],"aabb_xy":[[-0.49638187848893967,-2.0623120777061934],[-0.4788194241944672,-2.044752583129133]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[0.43427931212992554,-0.6142992075881701,0.71338606911949],"aabb_xy":[[0.42894679747531256,-0.6196235358334056],[0.43961182678453853,-0.6089748793429345]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_25","position":[0.13175253513990504,-1.8548697669416303,0.71338606911949],"aabb_xy":[[0.07677881310357215,-1.9098697665058635],[0.18672625717623792,-1.7998697673773971]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_26","position":[-0.40539567943022076,-1.1803221289385941,0.71338606911949],"aabb_xy":[[-0.44039567774091615,-1.1880371438621398],[-0.37039568111952526,-1.1726071140150485]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_27","position":[0.39131700207367714,0.8650766105544592,0.71338606911949],"aabb_xy":[[0.37220469471569834,0.8459418316772171],[0.41042930943165606,0.8842113894317012]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_28","position":[0.6058099937809012,-2.3944293711284157,0.71338606911949],"aabb_xy":[[0.5708099938044054,-2.4038939871760325],[0.6408099937573971,-2.384964755080799]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[-0.39048326770947206,-0.24576779206825883,0.71338606911949],"aabb_xy":[[-0.43178781077320805,-0.30976779163637586],[-0.34917872464573607,-0.1817677925001417]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718663555728204,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4477.png","name":"4477"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4477.png","name":"4477"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7664.png","name":"7664"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3055.png","name":"3055"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4370.png","name":"4370"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7256.png","name":"7256"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":802.4513890008302,"rotation_z_degrees":124.80520375764091,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000586410402730584,0.013710747147525782,0.013532672098553012]},{"name":"camera_2","offset_m":[0.0006429657293414784,-0.01685936984288893,-0.0150619631657131]},{"name":"camera_3","offset_m":[0.010437269704171203,-0.01603981488234632,-0.0004259714155393675]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002709212980553958,0.00031596889593797075,0.0018825390958594332],"end_effector_yaw_offset_degrees":-0.1410050632870683},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013753452342039254,0.0008791285857242138,0.0018055317251084286],"end_effector_yaw_offset_degrees":-0.9653092607276637},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.586821111014387e-05,-0.00027741377115162976,0.0012194579904274872],"end_effector_yaw_offset_degrees":-0.29647058397172854}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022116172014433923,0.0020391315269756415],"position_m":[0.2095883827985566,0.025839131526975645,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006579495029355488,-0.0005928047187681359],"position_m":[0.27394205049706444,-0.30819280471876814,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015716931829233872,-0.0009618854064414447],"position_m":[0.1620283068170766,0.22463811459355856,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005157907215182457,-0.001251620870119471],"position_m":[0.35421579072151826,0.16694837912988053,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c43aa8d01452bcd2cca903e08c190d58c492192c015613b59f3919a7599eeeb3","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4477/tex_ceiling_textures_7256/tex_floor_textures_4370/tex_table_textures_7664/tex_wall_textures_3055","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5456405654677621808,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5456405654677621808,"visual_seed":5456405654677621808,"scene_id":"lab_003","finished_at":"2026-09-04T16:56:01"} +{"episode_id":"ep_000072","started_at":"2026-09-04T16:56:04","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[-0.20683603691815872,1.5774300940701749,0.71338606911949],"aabb_xy":[[-0.256836037937294,1.540963878332347],[-0.15683603589902342,1.6138963098080028]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[-0.15245663631306094,0.5211221715188534,0.71338606911949],"aabb_xy":[[-0.2324566384758234,0.4411669878927098],[-0.07245663415029843,0.601077355144997]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[0.26915899433407764,-2.5409649320832273,0.71338606911949],"aabb_xy":[[0.26502313800137745,-2.5784649315275847],[0.27329485066677783,-2.5034649326388707]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[0.6287194893620807,-2.5047784339228567,0.71338606911949],"aabb_xy":[[0.5687194887660645,-2.55959090646808],[0.6887194899580968,-2.4499659613776332]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[-0.5139066591531818,-1.9076245183881164,0.71338606911949],"aabb_xy":[[-0.5839066555631435,-1.9280624540397975],[-0.44390666274321994,-1.887186582736434]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.160694280029557,-1.631136761768078,0.71338606911949],"aabb_xy":[[-0.16673129303022172,-1.6371634628370266],[-0.15465726702889226,-1.6251100606991304]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[-0.11450260075686547,1.405219559603255,0.71338606911949],"aabb_xy":[[-0.1194586209417467,1.3827195594011337],[-0.1095465805719843,1.427719559805377]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.44467176866574076,-1.652538129843466,0.71338606911949],"aabb_xy":[[-0.48217177018137247,-1.6637649028596113],[-0.40717176715010905,-1.6413113568273212]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.01496461766254209,1.0708868452217009,0.71338606911949],"aabb_xy":[[0.006938347031916092,1.062135350244348],[0.022990888293168088,1.0796383401990532]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.48716850844870674,-0.09771227423939033,0.71338606911949],"aabb_xy":[[0.4752357740868787,-0.1100944270472497],[0.49910124281053486,-0.08533012143153096]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.1456613149463315,-1.5212258628881985,0.71338606911949],"aabb_xy":[[0.128984178953236,-1.5379257868621288],[0.162338450939427,-1.5045259389142682]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.6622920550300291,-2.293178949681797,0.71338606911949],"aabb_xy":[[0.6494201515290888,-2.373178950095633],[0.6751639585309691,-2.2131789492679608]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.2772544206951594,-1.6719734691724464,0.71338606911949],"aabb_xy":[[-0.2971454605754997,-1.6846292804571434],[-0.2573633808148192,-1.6593176578877498]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.7003406800587038,0.9284130541829909,0.71338606911949],"aabb_xy":[[0.6790626719152314,0.8634130518569177],[0.7216186882021759,0.9934130565090639]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.004814250205056103,-0.9608394537798846,0.71338606911949],"aabb_xy":[[-0.0492013460768439,-1.0248394566721415],[0.058829846486956106,-0.8968394508876272]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.14475669964606563,1.09555856300183,0.71338606911949],"aabb_xy":[[-0.18225669946309922,1.0909203516906882],[-0.1072566998290321,1.100196774312972]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.5926746956704008,1.6228882583082913,0.71338606911949],"aabb_xy":[[-0.6178955325302403,1.5976645074554041],[-0.567453858810561,1.6481120091611776]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.597695295631651,-0.4746621934191655,0.71338606911949],"aabb_xy":[[0.5867895195440882,-0.5546621898179945],[0.6086010717192136,-0.3946621970203362]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.10223989667250444,-0.9419530379417114,0.71338606911949],"aabb_xy":[[-0.11411197968400555,-1.0269530376353617],[-0.09036781366100333,-0.8569530382480609]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[-0.04573877475454846,-0.525495384350565,0.71338606911949],"aabb_xy":[[-0.08073877388450412,-0.531240605426229],[-0.0107387756245928,-0.5197501632749008]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.5176464674986516,0.7185042599082139,0.71338606911949],"aabb_xy":[[-0.5676413004265932,0.6685042610129703],[-0.46765163457071,0.7685042588034574]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[0.32558954874092993,1.1189126307300983,0.71338606911949],"aabb_xy":[[0.30230770654279854,1.0339126294328702],[0.3488713909390612,1.2039126320273263]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.21526199546214952,0.20885993960740423,0.71338606911949],"aabb_xy":[[-0.2208436670962783,0.1963599397896287],[-0.2096803238280208,0.2213599394251797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67462868359628,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2897.png","name":"2897"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2897.png","name":"2897"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/603.png","name":"603"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8560.png","name":"8560"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7722.png","name":"7722"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2876.png","name":"2876"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":711.3785678906703,"rotation_z_degrees":200.82079747254494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0059990714586972155,-0.006999901681347582,0.01919748249089284]},{"name":"camera_2","offset_m":[-0.014191612960244316,-0.009013379445642351,0.00543666557088018]},{"name":"camera_3","offset_m":[-0.0001855731603609724,0.01777729308740202,0.016197430669519435]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012773007949867833,8.170612522032019e-05,0.0003484551104451397],"end_effector_yaw_offset_degrees":-0.6693012301222394},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001761171549743186,-0.0018002397843529172,0.0014728122658692116],"end_effector_yaw_offset_degrees":0.9240795158572173},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001642073997058402,-0.0010365205497521552,0.00032710223809318635],"end_effector_yaw_offset_degrees":0.8220952444200464}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001068613947002743,-0.003932409557559562],"position_m":[0.21073138605299724,0.01986759044244044,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021967339737017366,-0.0010836239713054993],"position_m":[0.27679673397370175,-0.3086836239713055,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015061672140489904,0.004090087542016623],"position_m":[0.165106167214049,0.2296900875420166,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012524586310372478,0.00021118354233976098],"position_m":[0.3524475413689628,0.16841118354233975,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cba49d98d86de74940f0fa8e0d444ae0b3035fc8615356e9949a5ba26ee652f0","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2897/tex_ceiling_textures_2876/tex_floor_textures_7722/tex_table_textures_603/tex_wall_textures_8560","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4745478221738313170,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4745478221738313170,"visual_seed":4745478221738313170,"scene_id":"lab_003","finished_at":"2026-09-04T16:58:40"} +{"episode_id":"ep_000073","started_at":"2026-09-04T16:58:43","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[-0.2773308622535702,1.1976417320723773,0.71338606911949],"aabb_xy":[[-0.32732587321302226,1.1476417330367856],[-0.2273358512941182,1.247641731107969]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[0.3313076064651699,-1.7889546316037896,0.71338606911949],"aabb_xy":[[0.290289663078799,-1.838954632234747],[0.37232554985154076,-1.7389546309728323]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[0.09325626642076001,-1.120446758633185,0.71338606911949],"aabb_xy":[[0.050489559541339823,-1.1844467620549874],[0.1360229733001802,-1.0564467552113825]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.019011535686523917,1.6304223819776635,0.71338606911949],"aabb_xy":[[-0.08301153594699472,1.5854135826247355],[0.04498846457394689,1.6754311813305915]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.31998959320245834,0.35292455239679343,0.71338606911949],"aabb_xy":[[0.3122864025283813,0.34521518169805543],[0.3276927838765354,0.36063392309553144]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[0.4630545027014701,-2.333013690598332,0.71338606911949],"aabb_xy":[[0.39305449930990805,-2.3683294643017625],[0.533054506093032,-2.2976979168949008]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.17208443103304238,-0.2636022248578822,0.71338606911949],"aabb_xy":[[-0.183653411779979,-0.2886022249748139],[-0.16051545028610584,-0.2386022247409505]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.6159714194399339,1.3289940814257126,0.71338606911949],"aabb_xy":[[-0.6306148249939669,1.3143353617689284],[-0.601328013885901,1.3436528010824969]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.24441109168086828,1.6418599159566196,0.71338606911949],"aabb_xy":[[-0.3020415605681391,1.5818599170299086],[-0.1867806227935974,1.7018599148833298]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.5937055564693502,1.4721497236849523,0.71338606911949],"aabb_xy":[[-0.6045460346958651,1.4549634423943036],[-0.5828650782428353,1.489336004975601]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.6285555949618324,-0.3747606945932369,0.71338606911949],"aabb_xy":[[0.5385555984609605,-0.42067233701169504],[0.718555591462704,-0.32884905217477856]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.2054630283888536,-1.966197196189279,0.71338606911949],"aabb_xy":[[-0.22535406826919388,-1.978853007473976],[-0.18557198850851336,-1.9535413849045824]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[-0.29305132315343396,-0.3139995831356539,0.71338606911949],"aabb_xy":[[-0.3155513226771413,-0.3364955305862747],[-0.2705513236297265,-0.2915036356850331]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[0.06593694786633286,-1.2859670741068165,0.71338606911949],"aabb_xy":[[0.05618095835715897,-1.2957296081660508],[0.07569293737550675,-1.2762045400475819]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.15838654299096977,1.8208516179433842,0.71338606911949],"aabb_xy":[[-0.1958865437829652,1.814483776985194],[-0.1208865421989743,1.8272194589015744]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[0.6951301910713035,1.2255288791196755,0.71338606911949],"aabb_xy":[[0.6726164992478462,1.155528878518668],[0.7176438828947606,1.295528879720683]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.2563450482936545,-0.4925660316822382,0.71338606911949],"aabb_xy":[[-0.2714473497546725,-0.5076675533132999],[-0.24124274683263633,-0.47746451005117635]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.31541316503104344,-1.3382150983023515,0.71338606911949],"aabb_xy":[[0.2854456081212178,-1.3682150986002375],[0.3453807219408691,-1.308215098004466]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.5024597715271317,-1.0055137908584677,0.71338606911949],"aabb_xy":[[-0.5664597679544536,-1.0526834146805644],[-0.4384597750998098,-0.9583441670363715]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.6649377919041508,0.29026637961176505,0.71338606911949],"aabb_xy":[[0.6227533777433202,0.22626637933455385],[0.7071222060649817,0.35426637988897625]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[-0.596362799309723,-0.16339418559214325,0.71338606911949],"aabb_xy":[[-0.6028644358177276,-0.17316200761845305],[-0.5898611628017184,-0.1536263635658335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681001688838718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7436.png","name":"7436"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7436.png","name":"7436"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9234.png","name":"9234"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5873.png","name":"5873"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7428.png","name":"7428"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4055.png","name":"4055"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":776.0719297733654,"rotation_z_degrees":258.52037885909874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016225680428453352,-0.013763069070402216,-0.014275881134391733]},{"name":"camera_2","offset_m":[-0.019330196727147333,0.010909799879707128,-0.006492781515948693]},{"name":"camera_3","offset_m":[0.016862646046210582,-0.012118500722361624,-0.014886724802793103]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012054406034614166,0.0019399755596191809,0.001420304314965154],"end_effector_yaw_offset_degrees":-0.8733371359725368},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018200800223746156,-0.0016539741723373886,0.0016249945570739623],"end_effector_yaw_offset_degrees":-0.5118824627580651},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011500255618061943,-0.0018425350073681083,0.0019127839943020326],"end_effector_yaw_offset_degrees":-0.9729406942533485}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003921204508296014,-0.003131925146693635],"position_m":[0.20787879549170396,0.020668074853306368,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003691494011284569,0.0017419176240019507],"position_m":[0.27090850598871546,-0.30585808237599804,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004890167801820901,0.0037914193007344563],"position_m":[0.16849016780182088,0.22939141930073445,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024536759101643703,-0.004228288452599314],"position_m":[0.35124632408983564,0.16397171154740067,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26a66251be1d3b309b1beab9dd1accbd7b1c8a214fe6edeed2619c50848774f3","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7436/tex_ceiling_textures_4055/tex_floor_textures_7428/tex_table_textures_9234/tex_wall_textures_5873","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8665074387444180722,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8665074387444180722,"visual_seed":8665074387444180722,"scene_id":"lab_003","finished_at":"2026-09-04T17:01:21"} +{"episode_id":"ep_000074","started_at":"2026-09-04T17:01:24","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[0.27973363485657854,-2.552685368280177,0.71338606911949],"aabb_xy":[[0.2641778654463133,-2.5682358015245845],[0.2952894042668438,-2.53713493503577]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.40084247991025274,-0.5098482549435825,0.71338606911949],"aabb_xy":[[-0.44302689407108353,-0.5738482552207937],[-0.35865806574942205,-0.44584825466637135]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.5376254455495479,-2.3218212142550696,0.71338606911949],"aabb_xy":[[-0.5551254458088847,-2.3359127564438427],[-0.5201254452902114,-2.3077296720662974]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[0.3201514842621509,0.6316068493227576,0.71338606911949],"aabb_xy":[[0.28265148274651913,0.6203800763066125],[0.35765148577778255,0.6428336223389026]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.11036443314707023,-0.7813553932475921,0.71338606911949],"aabb_xy":[[-0.1478644329641038,-0.7859936045587339],[-0.07286443333003667,-0.7767171819364502]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[-0.34052312330422024,0.5494779448969318,0.71338606911949],"aabb_xy":[[-0.405523123338523,0.5027772682166045],[-0.2755231232699175,0.5961786215772591]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[-0.3191411871159087,0.18528661617302378,0.71338606911949],"aabb_xy":[[-0.32717752181719356,0.17724849686860697],[-0.3111048524146239,0.19332473547744053]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.2966349038685927,-1.792593389959714,0.71338606911949],"aabb_xy":[[0.22663490205984727,-1.8139471587239016],[0.36663490567733814,-1.7712396211955268]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[0.002135474114647651,1.3533814846615702,0.71338606911949],"aabb_xy":[[-0.0072115334676475795,1.3390778624439263],[0.011482481696942881,1.3676851068792144]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[-0.06317240542534464,1.5645087641986914,0.71338606911949],"aabb_xy":[[-0.07474138617228121,1.53950876408176],[-0.05160342467840806,1.5895087643156234]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.13065250310614107,-1.8009548154205546,0.71338606911949],"aabb_xy":[[0.12049948755199166,-1.8370243569932945],[0.14080551866029042,-1.7648852738478138]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[-0.6468643305189291,-0.4004673291780638,0.71338606911949],"aabb_xy":[[-0.6582260651722153,-0.4118357955843519],[-0.635502595865643,-0.38909886277177574]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.5033420170439689,1.079715307779145,0.71338606911949],"aabb_xy":[[-0.5933420207208869,1.0182829012020402],[-0.41334201336705056,1.141147714356249]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.5273376191855765,-2.4757105899814045,0.71338606911949],"aabb_xy":[[-0.5319727343378097,-2.479577925058553],[-0.522702504033343,-2.4718432549042553]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.17255484944418387,-1.3335763182058318,0.71338606911949],"aabb_xy":[[-0.22253226630943743,-1.3835763196950799],[-0.12257743257893026,-1.2835763167165828]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[-0.0814700557088871,1.2403048185769774,0.71338606911949],"aabb_xy":[[-0.14547005429545956,1.1932978551774687],[-0.017470057122314628,1.287311781976486]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.36930245127929795,1.314903118434763,0.71338606911949],"aabb_xy":[[-0.4193024508556327,1.264922539482657],[-0.3193024517029633,1.364883697386869]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.2657923470579524,-2.166582851072063,0.71338606911949],"aabb_xy":[[-0.3070411580878671,-2.22158285058428],[-0.22454353602803764,-2.111582851559845]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.48838363282770936,-1.001449270238865,0.71338606911949],"aabb_xy":[[0.47147290039136747,-1.0149214758314795],[0.5052943652640509,-0.9879770646462505]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[0.42825013924987543,1.1345323109217467,0.71338606911949],"aabb_xy":[[0.3382501427490036,1.0886206685032882],[0.5182501357507471,1.1804439533402047]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_20","position":[0.5947390784808246,-1.1134591066576234,0.71338606911949],"aabb_xy":[[0.5773083634018179,-1.130731221321474],[0.6121697935598309,-1.0961869919937723]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[0.45141492106680814,1.8004505880339168,0.71338606911949],"aabb_xy":[[0.3814149189353786,1.7776886224082211],[0.5214149231982377,1.8232125536596124]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.39017957920325713,-0.9975279455855239,0.71338606911949],"aabb_xy":[[-0.40333082517454655,-1.0225279453422105],[-0.3770283332319678,-0.9725279458288375]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[0.7101319485366457,1.3911955125240016,0.71338606911949],"aabb_xy":[[0.7020182938632686,1.3830896960699723],[0.7182456032100228,1.3993013289780305]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6754301053292523,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6487.png","name":"6487"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6487.png","name":"6487"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6844.png","name":"6844"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6057.png","name":"6057"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1246.png","name":"1246"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3759.png","name":"3759"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":669.4132882448831,"rotation_z_degrees":200.7941776333224,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008583901434091726,-0.0029597863429603605,0.002442436693479433]},{"name":"camera_2","offset_m":[0.014742891011993959,-0.0015514502698755553,-0.019638648224841196]},{"name":"camera_3","offset_m":[0.00965275092850006,-0.009271844479514582,-0.00906891925584039]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003192920680833355,0.0004953849380972199,-0.000122579227431522],"end_effector_yaw_offset_degrees":-0.9859365315467246},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-2.9229100180020503e-05,-0.001594362798086793,0.0007694267597787791],"end_effector_yaw_offset_degrees":-0.7374273527006405},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015497494440025452,-0.0011339286243979216,0.0009184611799832989],"end_effector_yaw_offset_degrees":-0.09046508162283429}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002708551828002662,-0.00040466467010369725],"position_m":[0.20909144817199732,0.023395335329896304,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019348833964705839,-0.0033366340380646007],"position_m":[0.2765348833964706,-0.3109366340380646,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002240645440825969,0.000369254620697315],"position_m":[0.16135935455917402,0.2259692546206973,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016516986722196658,-0.003308769320736006],"position_m":[0.35204830132778037,0.16489123067926398,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7cbc7c75a3cfcaad6abb7a18a3094451b576011636b68be62a78c48756b539b4","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6487/tex_ceiling_textures_3759/tex_floor_textures_1246/tex_table_textures_6844/tex_wall_textures_6057","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5944279161826686746,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5944279161826686746,"visual_seed":5944279161826686746,"scene_id":"lab_003","finished_at":"2026-09-04T17:04:19"} +{"episode_id":"ep_000075","started_at":"2026-09-04T17:04:22","dimensions":{"distractor":{"count":32,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[-0.06524737106278389,-0.7216966344870297,0.71338606911949],"aabb_xy":[[-0.090247370228417,-0.7286488801923863],[-0.040247371897150774,-0.7147443887816731]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.15483518854649914,-1.328819534486966,0.71338606911949],"aabb_xy":[[0.146721533873122,-1.336925350940995],[0.1629488432198762,-1.320713718032937]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[0.1090588716152614,0.8406853864592683,0.71338606911949],"aabb_xy":[[0.09781381604464355,0.829443588735173],[0.12030392718587922,0.8519271841833636]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[-0.5753873616156837,-0.6428410497944115,0.71338606911949],"aabb_xy":[[-0.5846809798528343,-0.6803410482825454],[-0.5660937433785331,-0.6053410513062776]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.6271943467407171,-1.253849771022053,0.71338606911949],"aabb_xy":[[0.6163538685142022,-1.2710360523127018],[0.638034824967232,-1.2366634897314044]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.2406133426970829,-2.5001078558609104,0.71338606911949],"aabb_xy":[[-0.25616911210734816,-2.5156582891053176],[-0.22505757328681766,-2.4845574226165033]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[0.6460805199650321,-1.7799260749946575,0.71338606911949],"aabb_xy":[[0.6156824088658884,-1.810332976996327],[0.6764786310641756,-1.749519172992988]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.2340945600791719,-0.28438795202662037,0.71338606911949],"aabb_xy":[[-0.23852518943401207,-0.289836323761303],[-0.22966393072433172,-0.2789395802919378]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[-0.30502498564622044,-1.4785219258125923,0.71338606911949],"aabb_xy":[[-0.38502498423353987,-1.5578375277507532],[-0.22502498705890103,-1.3992063238744314]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[-0.12132687006236853,-0.5785171339045059,0.71338606911949],"aabb_xy":[[-0.12954141517805248,-0.587193724202147],[-0.11311232494668454,-0.5698405436068643]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.6366576471141754,-2.2546163469660443,0.71338606911949],"aabb_xy":[[0.6116576475624368,-2.2647588308311786],[0.6616576466659138,-2.244473863100909]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.5575264176453403,0.9686533529591825,0.71338606911949],"aabb_xy":[[0.5502826515990948,0.8886533547555802],[0.5647701836915855,1.048653351162785]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[-0.07932093220272651,0.425404121014072,0.71338606911949],"aabb_xy":[[-0.08873840677258926,0.41598794387635296],[-0.06990345763286376,0.434820298151791]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.5325455924176694,0.18029766511691214,0.71338606911949],"aabb_xy":[[0.5252843448472619,0.16751065485340264],[0.5398068399880769,0.1930846753804216]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[0.6016228850364655,-2.545612261125754,0.71338606911949],"aabb_xy":[[0.5216228863795797,-2.560117120050017],[0.6816228836933517,-2.531107402201491]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.0233401249440085,1.5206879488999792,0.71338606911949],"aabb_xy":[[-0.02867770061001307,1.4956879479708396],[-0.018002549278003935,1.5456879498291192]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[-0.41254311917263997,1.6646290499038066,0.71338606911949],"aabb_xy":[[-0.47754311732855903,1.6383328053538944],[-0.3475431210167209,1.6909252944537188]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[-0.43535217280466315,-2.0685094370413966,0.71338606911949],"aabb_xy":[[-0.46164099712510376,-2.0947808706960473],[-0.40906334848422243,-2.042238003386745]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.50990876409084,-0.5517237091493588,0.71338606911949],"aabb_xy":[[0.5045762494362269,-0.5570480373945943],[0.515241278745453,-0.5463993809041232]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[-0.5600526398266799,-1.3569101109972754,0.71338606911949],"aabb_xy":[[-0.6437748653267623,-1.4469101145319716],[-0.4763304143265974,-1.2669101074625797]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[0.11243245232238996,1.1290521178046293,0.71338606911949],"aabb_xy":[[0.08458741554178284,1.0982676190663176],[0.1402774891029971,1.159836616542941]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[0.22835577221837755,-0.5793891156202977,0.71338606911949],"aabb_xy":[[0.16835577135756472,-0.630815545626784],[0.2883557730791903,-0.5279626856138112]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[0.4596853800305969,-0.25219367858995634,0.71338606911949],"aabb_xy":[[0.4231895594033181,-0.28867762101671385],[0.4961812006578756,-0.21570973616319872]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[0.7118309294761553,-0.5969011167077329,0.71338606911949],"aabb_xy":[[0.7024839218938601,-0.611204738925377],[0.7211779370584506,-0.5825974944900889]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_24","position":[-0.31673322878322246,-2.305173277967209,0.71338606911949],"aabb_xy":[[-0.3286053117947236,-2.3901732776608595],[-0.30486114577172135,-2.220173278273559]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[0.49634404869661597,-2.0011550872849067,0.71338606911949],"aabb_xy":[[0.48118117571967894,-2.0163205445800254],[0.511506921673553,-1.985989629989788]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_26","position":[0.3571615416012992,-1.7934317821646688,0.71338606911949],"aabb_xy":[[0.3021615424247097,-1.8484214569396265],[0.4121615407778887,-1.7384421073897112]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_27","position":[0.3382274068576214,0.3986091567626424,0.71338606911949],"aabb_xy":[[0.3223429135922962,0.3842562164638183],[0.3541119001229465,0.4129620970614664]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_28","position":[-0.07482162641621326,-2.4441901298780158,0.71338606911949],"aabb_xy":[[-0.16450870272432871,-2.5341901301324663],[0.014865449891902194,-2.354190129623565]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_29","position":[-0.5360202461866744,-1.5877139704046193,0.71338606911949],"aabb_xy":[[-0.5535669411027933,-1.6252139719688705],[-0.5184735512705554,-1.550213968840368]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_30","position":[0.42023360650468633,1.6963163640892165,0.71338606911949],"aabb_xy":[[0.37023360692835167,1.6463357851371103],[0.4702336060810211,1.7462969430413222]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_31","position":[-0.21028833460942187,1.0229348613306333,0.71338606911949],"aabb_xy":[[-0.30028833828634,0.9615024547535287],[-0.12028833093250366,1.0843672679077374]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6771344216728784,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4520.png","name":"4520"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4520.png","name":"4520"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9452.png","name":"9452"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9292.png","name":"9292"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8493.png","name":"8493"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2328.png","name":"2328"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":531.3128660550084,"rotation_z_degrees":291.6975110812745,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002241819107361532,0.002719143397772319,0.016714921678772397]},{"name":"camera_2","offset_m":[-0.0049611641311563485,-0.008311471818968706,0.015603954568978218]},{"name":"camera_3","offset_m":[-0.011204954361449105,0.006699376810489911,-0.005515146171631789]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00013244546402558068,-0.0013016224458670977,-0.0010043897805430465],"end_effector_yaw_offset_degrees":0.3029833635549297},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011738831517015976,-0.00029892513253287857,0.0016465593522511203],"end_effector_yaw_offset_degrees":-0.12948488775670786},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006270547272967369,-0.0017673021821393979,-0.0008653391175579049],"end_effector_yaw_offset_degrees":-0.7033971934919379}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003077903323308237,0.0031567632983996686],"position_m":[0.21487790332330822,0.02695676329839967,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004700932981022082,-0.0016929352957205756],"position_m":[0.2793009329810221,-0.30929293529572055,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002785581906690926,-0.0032919822241054175],"position_m":[0.16081441809330907,0.22230801777589457,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029647974920738542,0.002597258021846481],"position_m":[0.35073520250792617,0.17079725802184648,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"beb427ea2dc42f4f1a0c83f8f1a00bfb7f57f5c9ca26c5cb10b2b3e6f82cd274","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4520/tex_ceiling_textures_2328/tex_floor_textures_8493/tex_table_textures_9452/tex_wall_textures_9292","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1721353454400602358,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1721353454400602358,"visual_seed":1721353454400602358,"scene_id":"lab_003","finished_at":"2026-09-04T17:07:01"} +{"episode_id":"ep_000076","started_at":"2026-09-04T17:07:04","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.5934264383987196,-1.3501681338465623,0.71338606911949],"aabb_xy":[[0.5755573306442641,-1.3640010418237731],[0.611295546153175,-1.336335225869351]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.2865612179608982,-1.8602628202048996,0.71338606911949],"aabb_xy":[[0.2646525358215471,-1.8821634870249901],[0.30846990010024916,-1.8383621533848087]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.4699225483605962,0.9212249143952862,0.71338606911949],"aabb_xy":[[-0.5536447738606787,0.83122491086059],[-0.3862003228605137,1.011224917929982]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[0.5556307114982413,-1.8109989139754572,0.71338606911949],"aabb_xy":[[0.4916307151026682,-1.8749622023941908],[0.6196307078938144,-1.7470356255567236]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.2100076949511307,0.5017024564517643,0.71338606911949],"aabb_xy":[[-0.21813538314444392,0.4927888480410566],[-0.20188000675781748,0.5106160648624719]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.1389236084995511,-2.3215354809217077,0.71338606911949],"aabb_xy":[[-0.15655644409307864,-2.3391584269373302],[-0.12129077290602351,-2.3039125349060843]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.2948320145287672,-0.9668558876679261,0.71338606911949],"aabb_xy":[[-0.32912892554650774,-1.0011527738778672],[-0.2605351035110265,-0.9325590014579845]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[0.3929208749459745,-1.7240268384036224,0.71338606911949],"aabb_xy":[[0.3579208758160188,-1.7297720594792867],[0.4279208740759301,-1.7182816173279585]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.2606661270095665,-2.4298840162832893,0.71338606911949],"aabb_xy":[[0.25696286568042753,-2.433586034592006],[0.2643693883387053,-2.4261819979745707]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.06697535387691322,0.49580461378564955,0.71338606911949],"aabb_xy":[[-0.08214752315854656,0.48063575685744625],[-0.05180318459527988,0.5109734707138529]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[0.4018584515106354,-1.3590660553685454,0.71338606911949],"aabb_xy":[[0.33785845125016456,-1.4040748547214734],[0.4658584517711062,-1.3140572560156174]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[-0.542872896213086,-0.2218019905530304,0.71338606911949],"aabb_xy":[[-0.6078728962473888,-0.2685026672333577],[-0.47787289617878337,-0.1751013138727031]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.36878911405502784,-1.5574342776269987,0.71338606911949],"aabb_xy":[[-0.41396043190319687,-1.6214342747715376],[-0.3236177962068589,-1.4934342804824605]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.34158371261787235,-0.6842234768604003,0.71338606911949],"aabb_xy":[[-0.40558371583651026,-0.7309465887594087],[-0.27758370939923455,-0.637500364961392]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[-0.4808306635671751,-0.04015160918055072,0.71338606911949],"aabb_xy":[[-0.5279600425690107,-0.10415161022495266],[-0.43370128456533935,0.02384839186385125]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[-0.5692183188075552,-0.5159878547625398,0.71338606911949],"aabb_xy":[[-0.5852802462660728,-0.6009878565751315],[-0.5531563913490375,-0.43098785294994796]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.04582320264135664,0.773134031325589,0.71338606911949],"aabb_xy":[[0.03405501584669912,0.6881340314203676],[0.05759138943601417,0.8581340312308108]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.05475906901917982,1.6694178340299506,0.71338606911949],"aabb_xy":[[0.046715709093224644,1.5844178329345842],[0.06280242894513499,1.754417835125317]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[0.14423383215770313,-1.3055808558627298,0.71338606911949],"aabb_xy":[[0.10298502112778839,-1.360580855374947],[0.18548264318761784,-1.250580856350512]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.5540740487288327,1.070066291173188,0.71338606911949],"aabb_xy":[[0.46438697242071736,0.9800662909187374],[0.6437611250369483,1.1600662914276385]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.07027311037838657,1.2780654868649024,0.71338606911949],"aabb_xy":[[0.0062731101044083415,1.2279993866676147],[0.1342731106523648,1.3281315870621906]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[0.6665202110625996,-2.1220789725144087,0.71338606911949],"aabb_xy":[[0.644020210550559,-2.144570830879807],[0.6890202115746402,-2.0995871141490103]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.05626362234040183,-2.4872848444046576,0.71338606911949],"aabb_xy":[[0.0022480260585018216,-2.5512848472969143],[0.11027921862230183,-2.4232848415124]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[0.0100907058635884,-0.6512385828421605,0.71338606911949],"aabb_xy":[[-0.05990929594515704,-0.6725923516063479],[0.08009070767233384,-0.6298848140779731]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[-0.29913704292541976,-1.1500358936385957,0.71338606911949],"aabb_xy":[[-0.3334533201000377,-1.2000358936117734],[-0.2648207657508018,-1.100035893665418]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[0.3302875815646198,-2.207211259549163,0.71338606911949],"aabb_xy":[[0.3151852801036016,-2.222312781180224],[0.3453898830256378,-2.1921097379181003]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6716343949693746,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6633.png","name":"6633"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6633.png","name":"6633"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5408.png","name":"5408"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1746.png","name":"1746"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2258.png","name":"2258"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4576.png","name":"4576"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":774.8014791469569,"rotation_z_degrees":170.6163040566299,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011577921698889652,-0.017690416649410085,-0.0033988639209109432]},{"name":"camera_2","offset_m":[-0.0023041444367822017,-0.009010494380483363,0.01408357754649842]},{"name":"camera_3","offset_m":[0.0036544007018439635,0.019488286249841436,-0.00023634220468176856]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001542601028421658,-0.0007162428202137389,0.0016447066031009452],"end_effector_yaw_offset_degrees":-0.3155267984046757},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006385362174558974,-0.00035348345632986444,0.001681960746232411],"end_effector_yaw_offset_degrees":0.3831976443684342},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003331336645616219,0.0008815179819240087,-0.00019073584830218114],"end_effector_yaw_offset_degrees":0.24553641251805547}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004410346411365985,0.0008530319223474768],"position_m":[0.207389653588634,0.02465303192234748,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[6.484416086411076e-05,0.0013196577603313431],"position_m":[0.2746648441608641,-0.30628034223966866,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006325837226022687,-0.0012177544196339553],"position_m":[0.16423258372260227,0.22438224558036604,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002638221828822505,-0.00034999150543396727],"position_m":[0.3563382218288225,0.16785000849456602,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f7eb10e514f77cf98e40f5da5ba421ffca55c912107ae6ad2b1886c4cecfc731","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6633/tex_ceiling_textures_4576/tex_floor_textures_2258/tex_table_textures_5408/tex_wall_textures_1746","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6974280814795992361,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6974280814795992361,"visual_seed":6974280814795992361,"scene_id":"lab_003","finished_at":"2026-09-04T17:10:00"} +{"episode_id":"ep_000077","started_at":"2026-09-04T17:10:03","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.22425040100662574,-1.7247017708946868,0.71338606911949],"aabb_xy":[[0.1442504005364098,-1.7330124785090353],[0.3042504014768417,-1.7163910632803387]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[0.6281333740011801,-0.6663577865963191,0.71338606911949],"aabb_xy":[[0.5731333748245906,-0.7213474613712766],[0.6831333731777696,-0.6113681118213613]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.0898019533287715,-0.7455104344509196,0.71338606911949],"aabb_xy":[[-0.09525989896579157,-0.8255104377585786],[-0.08434400769175143,-0.6655104311432604]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[0.2617928069662361,-0.9911891752555895,0.71338606911949],"aabb_xy":[[0.23724659134348533,-1.0214380718046265],[0.28633902258898675,-0.9609402787065524]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.6330977555005242,-0.03247776098817967,0.71338606911949],"aabb_xy":[[0.6019508366569409,-0.10247775967498685],[0.6642446743441072,0.0375222376986275]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[-0.1638048210018307,-1.9478676483401893,0.71338606911949],"aabb_xy":[[-0.16724549724188786,-1.951729081314554],[-0.16036414476177352,-1.944006215365825]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[0.5455601230779097,-2.384944774352323,0.71338606911949],"aabb_xy":[[0.4955813145675938,-2.434944774358042],[0.5955389315882256,-2.3349447743466043]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.1325295083214788,1.4630163764711281,0.71338606911949],"aabb_xy":[[-0.18252950960531875,1.413037522080506],[-0.08252950703763882,1.5129952308617503]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.3544447011924215,-1.0720492373047228,0.71338606911949],"aabb_xy":[[-0.3719447014517581,-1.0861407794934956],[-0.3369447009330849,-1.0579576951159504]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[0.35942452293499594,1.3002538280668023,0.71338606911949],"aabb_xy":[[0.3515012426962476,1.277753827828799],[0.36734780317374427,1.3227538283048057]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.5412180516668386,-2.3113998796803172,0.71338606911949],"aabb_xy":[[-0.605218052370308,-2.3574182621532382],[-0.47721805096336933,-2.2653814972073962]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[-0.17770321059584704,-1.3988309291384666,0.71338606911949],"aabb_xy":[[-0.1968155179538259,-1.4179657080157086],[-0.15859090323786817,-1.3796961502612246]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[-0.44236277701786086,1.462315201206938,0.71338606911949],"aabb_xy":[[-0.5073627779749881,1.4103669892732325],[-0.37736277606073365,1.5142634131406436]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[0.6000480094434126,-1.1810403884149843,0.71338606911949],"aabb_xy":[[0.5300480060518505,-1.216356162118415],[0.6700480128349745,-1.1457246147115532]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.14155525708570038,-0.14216119534422011,0.71338606911949],"aabb_xy":[[-0.15665755854671845,-0.15726271697528185],[-0.12645295562468226,-0.1270596737131582]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.19909849082819814,1.1495270754570956,0.71338606911949],"aabb_xy":[[-0.2890984875638083,1.096343612139801],[-0.1090984940925879,1.20271053877439]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[0.5598955469824551,0.3954076235998838,0.71338606911949],"aabb_xy":[[0.5248955477896368,0.3844405776022211],[0.5948955461752733,0.40637466959754637]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[0.422067310355315,-0.8284248611847154,0.71338606911949],"aabb_xy":[[0.3845673104115485,-0.8367179512195518],[0.4595673102990813,-0.8201317711498787]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[-0.5519460582576021,-2.0194318937958498,0.71338606911949],"aabb_xy":[[-0.5990754372594377,-2.0834318948402513],[-0.5048166792557663,-1.9554318927514474]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[-0.4571260965598667,-0.29928506390665666,0.71338606911949],"aabb_xy":[[-0.474626096804916,-0.31678485174622345],[-0.43962609631481725,-0.28178527606708975]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.5372183139663815,1.7002899868657386,0.71338606911949],"aabb_xy":[[0.4732183136924033,1.6502238866684509],[0.6012183142403598,1.7503560870630268]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[-0.43790702967505063,-0.4433372799404096,0.71338606911949],"aabb_xy":[[-0.4488128057626133,-0.5233372763392388],[-0.42700125358748786,-0.3633372835415804]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[-0.01701180567648941,-1.3965389562386783,0.71338606911949],"aabb_xy":[[-0.05919621983732015,-1.4605389565158895],[0.025172608484341327,-1.332538955961467]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[-0.15976205291224144,-1.8191661870305285,0.71338606911949],"aabb_xy":[[-0.1897296098220671,-1.849166187328414],[-0.12979449600241577,-1.7891661867326425]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[0.6000621525961212,-1.92018035790765,0.71338606911949],"aabb_xy":[[0.5625621540205002,-1.9329166535712075],[0.6375621511717419,-1.9074440622440916]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_25","position":[-0.3220461072496028,0.9366455440106249,0.71338606911949],"aabb_xy":[[-0.3630640506359737,0.8866455433796675],[-0.28102816386323193,0.9866455446415822]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_26","position":[0.6559850387917459,-0.949356228990957,0.71338606911949],"aabb_xy":[[0.6390743063554041,-0.9628284345835715],[0.6728957712280876,-0.9358840233983424]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_27","position":[0.021884174217404295,-1.2471933269683502,0.71338606911949],"aabb_xy":[[0.007240768663371307,-1.2618520466251342],[0.03652757977143728,-1.2325346073115657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6734846734014235,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5085.png","name":"5085"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5085.png","name":"5085"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2052.png","name":"2052"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/655.png","name":"655"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3499.png","name":"3499"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2589.png","name":"2589"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":716.2542339270967,"rotation_z_degrees":291.69382300959245,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0015627908781866533,0.01353335629511115,-0.007291333377613972]},{"name":"camera_2","offset_m":[-0.015563656219658224,-0.008770481898323452,0.009739055466214758]},{"name":"camera_3","offset_m":[0.005988293305221725,0.013683874026701116,0.0074987583269417665]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005661366276435982,0.001152037444559067,0.0016583607442708123],"end_effector_yaw_offset_degrees":-0.804752738257704},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005045676303171605,0.00023660506110467468,-3.430186281460452e-05],"end_effector_yaw_offset_degrees":0.786763373870516},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017215546384614084,-0.0019060606445898865,0.0006768860676416998],"end_effector_yaw_offset_degrees":0.1064764191351355}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004728096339776983,-0.002744012513152483],"position_m":[0.20707190366022302,0.02105598748684752,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00102801752057919,-0.0008543682161396161],"position_m":[0.2756280175205792,-0.3084543682161396,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033982831750599173,-0.0016312006942513237],"position_m":[0.16020171682494008,0.22396879930574867,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025500525814244634,0.0035479599700478327],"position_m":[0.3511499474185755,0.17174795997004783,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ec90f637202749a5bb2e9c99915c71fc2f6ed24333fc0b9111f9d5149ec0e461","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5085/tex_ceiling_textures_2589/tex_floor_textures_3499/tex_table_textures_2052/tex_wall_textures_655","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4232308565766428584,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4232308565766428584,"visual_seed":4232308565766428584,"scene_id":"lab_003","finished_at":"2026-09-04T17:12:44"} +{"episode_id":"ep_000078","started_at":"2026-09-04T17:12:48","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[-0.09235247772927802,1.2535022798249935,0.71338606911949],"aabb_xy":[[-0.13763109261042727,1.1895022804768098],[-0.04707386284812874,1.3175022791731772]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[-0.2762222062045231,1.3989042917515886,0.71338606911949],"aabb_xy":[[-0.2937222064638597,1.384812749562816],[-0.25872220594518647,1.4129958339403612]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[0.6411963693043718,-0.3910983233992025,0.71338606911949],"aabb_xy":[[0.6166827452073661,-0.415362916701239],[0.6657099934013778,-0.3668337300971661]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[0.4282626579515363,-2.5426232584373265,0.71338606911949],"aabb_xy":[[0.4174896840301685,-2.5776232566563655],[0.43903563187290406,-2.5076232602182875]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[0.6016948084333276,-1.096565635269589,0.71338606911949],"aabb_xy":[[0.584264093354321,-1.1138377499334395],[0.619125523512334,-1.079293520605738]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.20413710736854118,-0.5917525234454888,0.71338606911949],"aabb_xy":[[-0.2841371078387571,-0.6000632310598372],[-0.12413710689832524,-0.5834418158311404]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.6633480935655671,-2.182771510202029,0.71338606911949],"aabb_xy":[[0.6274345891405774,-2.2186850184187836],[0.6992615979905566,-2.146858001985274]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[-0.5093219076454282,-1.1244616013777176,0.71338606911949],"aabb_xy":[[-0.5592993245106817,-1.1744616028669659],[-0.45934449078017453,-1.0744615998884688]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.07364696796895331,0.7866505092317584,0.71338606911949],"aabb_xy":[[-0.09114690140293667,0.7691505093115237],[-0.05614703453496993,0.8041505091519928]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[0.4636549579678306,1.0280450186424894,0.71338606911949],"aabb_xy":[[0.39965496085572494,0.9790126488480788],[0.5276549550799363,1.0770773884369]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[0.1334152662691538,1.4234077725310192,0.71338606911949],"aabb_xy":[[0.1247173039784385,1.4112827982235445],[0.14211322855986908,1.435532746838494]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[-0.6174209908156036,0.9721504268494829,0.71338606911949],"aabb_xy":[[-0.6426418276754431,0.946926675996596],[-0.5922001539557638,0.9973741777023695]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[-0.40017059037504105,0.2404991730957824,0.71338606911949],"aabb_xy":[[-0.4501656013344931,0.1904991740601907],[-0.350175579415589,0.2904991721313741]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.21930755358597953,-1.971512281023463,0.71338606911949],"aabb_xy":[[0.18180755292140077,-1.9871993390236853],[0.2568075542505581,-1.955825223023241]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[0.45836769918623665,-1.275525948023492,0.71338606911949],"aabb_xy":[[0.44828599210766307,-1.3555259459156062],[0.46844940626481,-1.1955259501313769]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[-0.6403233312995681,-1.2665981838056044,0.71338606911949],"aabb_xy":[[-0.6459050029336967,-1.27909818362338],[-0.6347416596654393,-1.254098183987829]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.2956019529159998,1.3124581820417638,0.71338606911949],"aabb_xy":[[0.29117132356115966,1.3070098103070815],[0.30003258227084,1.3179065537764465]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.1815993697257775,-1.0542949030495983,0.71338606911949],"aabb_xy":[[0.13162630419326204,-1.1042949028621314],[0.231572435258293,-1.0042949032370656]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.40728576367365293,1.7080532246865494,0.71338606911949],"aabb_xy":[[-0.4712857650816436,1.6562642731626245],[-0.34328576226566226,1.759842176210474]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[0.18131297771512245,0.6562808847972708,0.71338606911949],"aabb_xy":[[0.17667786256288903,0.6524135497201219],[0.1859480928673558,0.6601482198744192]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[0.36543582896427096,1.7328663326233618,0.71338606911949],"aabb_xy":[[0.3404358296923087,1.7165209690271996],[0.39043582823623324,1.7492116962195243]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[-0.4583258412000757,0.7613682669702166,0.71338606911949],"aabb_xy":[[-0.49291692405412085,0.6963682666851854],[-0.4237347583460304,0.8263682672552475]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.5211389283425805,-1.9808213472551945,0.71338606911949],"aabb_xy":[[-0.5851389286030512,-2.025830146608122],[-0.4571389280821096,-1.9358125479022665]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.43014380778486677,-1.3080992439439556,0.71338606911949],"aabb_xy":[[-0.44902819155337703,-1.3269851687243084],[-0.4112594240163566,-1.2892133191636028]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[0.15176233213176016,-1.4659050659067772,0.71338606911949],"aabb_xy":[[0.13831580549771683,-1.4793749175598687],[0.1652088587658035,-1.452435214253686]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_25","position":[0.6286997551885805,1.7824200007284836,0.71338606911949],"aabb_xy":[[0.6111214529996336,1.7648455111543788],[0.6462780573775273,1.7999944903025888]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.6336615539542405,-2.3039743874399505,0.71338606911949],"aabb_xy":[[-0.6558340809308913,-2.3261500545960736],[-0.6114890269775897,-2.2817987202838275]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_27","position":[0.6805981792680764,-2.0516056981066457,0.71338606911949],"aabb_xy":[[0.6430981787707182,-2.0555743816547642],[0.7180981797654347,-2.047637014558527]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_28","position":[-0.6609544563701202,-0.9584182739524882,0.71338606911949],"aabb_xy":[[-0.667368270013305,-0.9648280942001564],[-0.6545406427269351,-0.9520084537048197]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_29","position":[-0.33924288841606426,-1.5331260423170563,0.71338606911949],"aabb_xy":[[-0.4032428906364713,-1.5774991264423444],[-0.27524288619565723,-1.4887529581917678]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_30","position":[-0.5295465568681152,1.563325724862565,0.71338606911949],"aabb_xy":[[-0.5795396689773072,1.5133257241883695],[-0.4795534447589235,1.6133257255367608]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_31","position":[0.5357147007896124,-0.5723898326439434,0.71338606911949],"aabb_xy":[[0.48058949516002164,-0.6323898340852304],[0.5908399064192031,-0.5123898312026561]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_32","position":[-0.43437433842775397,-0.439212058119022,0.71338606911949],"aabb_xy":[[-0.5043743405591834,-0.4619740237447175],[-0.3643743362963244,-0.4164500924933262]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_33","position":[0.34842289047340325,-1.7657545121923897,0.71338606911949],"aabb_xy":[[0.29832542649232957,-1.8297545127022012],[0.3985203544544768,-1.7017545116825776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677928556987414,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8200.png","name":"8200"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8200.png","name":"8200"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2094.png","name":"2094"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6812.png","name":"6812"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/582.png","name":"582"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6266.png","name":"6266"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":518.6569369440871,"rotation_z_degrees":337.6078414394199,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00810966568801355,-0.004298800606944798,0.01860409143206646]},{"name":"camera_2","offset_m":[0.016297242700620006,0.008783119346163083,0.006326927766274575]},{"name":"camera_3","offset_m":[-0.005791688609553694,-0.003988495272786437,-0.0010805394612023941]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016571546625654642,-0.00041143505788352017,-0.0002937743290087921],"end_effector_yaw_offset_degrees":0.9840507706313788},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003555112445214198,0.0017153849626755898,-0.0008019940921807191],"end_effector_yaw_offset_degrees":0.6002070484464073},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005479358755584589,-0.00010713258506382813,-0.0005766045690919594],"end_effector_yaw_offset_degrees":-0.8883438633710743}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004253825698465754,-0.0014865876221238283],"position_m":[0.21605382569846573,0.022313412377876173,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025173754319324448,0.004709743563913603],"position_m":[0.2720826245680676,-0.30289025643608636,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033897291514544065,0.004429600613450075],"position_m":[0.1669897291514544,0.23002960061345007,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010208459671645388,-0.002944128332995627],"position_m":[0.3547208459671646,0.16525587166700437,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c167aaa134732432cb2e07840add62fc1e0050a5cf1c983fdb109b45e3b77954","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8200/tex_ceiling_textures_6266/tex_floor_textures_582/tex_table_textures_2094/tex_wall_textures_6812","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2257457212718588925,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2257457212718588925,"visual_seed":2257457212718588925,"scene_id":"lab_003","finished_at":"2026-09-04T17:15:25"} +{"episode_id":"ep_000079","started_at":"2026-09-04T17:15:27","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.29010084494195404,0.43683453235394776,0.71338606911949],"aabb_xy":[[-0.31875017730237026,0.4081889730768719],[-0.2614515125815378,0.4654800916310235]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.5839602231511178,-1.177296124812081,0.71338606911949],"aabb_xy":[[-0.601635853739716,-1.1949763410914835],[-0.5662845925625193,-1.159615908532678]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.6377160969523743,1.3640193715204552,0.71338606911949],"aabb_xy":[[0.6152160974286669,1.3415234240698342],[0.6602160964760817,1.3865153189710757]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.2928466814341539,-0.5761507880469718,0.71338606911949],"aabb_xy":[[-0.31027739651316033,-0.5934229027108225],[-0.2754159663551473,-0.5588786733831209]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.5736351553329069,0.585382901899584,0.71338606911949],"aabb_xy":[[-0.5789727309989114,0.5603829009704442],[-0.5682975796669023,0.6103829028287238]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[0.4198523889900829,0.7805404498993687,0.71338606911949],"aabb_xy":[[0.3698575560621413,0.7305404510041251],[0.4698472219180245,0.8305404487946122]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.4151576065227234,-1.8348141218818226,0.71338606911949],"aabb_xy":[[0.4070439518493463,-1.8429199383358517],[0.4232712611961005,-1.8267083054277935]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[0.6259998305914758,-1.7088634446432236,0.71338606911949],"aabb_xy":[[0.6151593523649609,-1.7260497259338723],[0.6368403088179907,-1.691677163352575]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.38939640880564963,-2.443251689518326,0.71338606911949],"aabb_xy":[[0.366896408293609,-2.465743547883724],[0.41189640931769017,-2.4207598311529273]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.3914119423977698,-1.5415929564518402,0.71338606911949],"aabb_xy":[[0.3874514586280354,-1.5492608210373608],[0.39537242616750407,-1.5339250918663196]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.13932732363477407,-1.1238440551329714,0.71338606911949],"aabb_xy":[[0.05932732662052606,-1.1439786068063826],[0.21932732064902202,-1.10370950345956]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.01962620450594843,-1.7493122196973845,0.71338606911949],"aabb_xy":[[0.01353157661783011,-1.7578816142490532],[0.02572083239406675,-1.7407428251457158]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[0.29330415571096147,-0.8064085715546323,0.71338606911949],"aabb_xy":[[0.20330415921008968,-0.8523202139730905],[0.38330415221183317,-0.7604969291361741]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[-0.492695622214373,0.6394718926629506,0.71338606911949],"aabb_xy":[[-0.49866216115510886,0.6335107480035864],[-0.4867290832736373,0.6454330373223145]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[-0.4315889551420268,-2.4150620112455456,0.71338606911949],"aabb_xy":[[-0.4701346479672278,-2.453607782301734],[-0.39304326231682574,-2.3765162401893565]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[0.11735779821631143,0.6810231931840574,0.71338606911949],"aabb_xy":[[0.06955163060254277,0.6160231904769983],[0.16516396583008008,0.7460231958911162]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.030923391229445873,-2.1887088611554875,0.71338606911949],"aabb_xy":[[-0.05907660736502407,-2.204959447468909],[0.12092338982391582,-2.1724582748420667]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.061757568699854715,0.9556347563186955,0.71338606911949],"aabb_xy":[[-0.06806966823619316,0.9498678170654766],[-0.055445469163516295,0.9614016955719142]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[0.5098708820258935,-1.8992128701068782,0.71338606911949],"aabb_xy":[[0.48958657930249466,-1.9194954952495866],[0.5301551847492921,-1.878930244964169]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[0.06438197703751547,-2.4760504305703366,0.71338606911949],"aabb_xy":[[0.04849748377219032,-2.4904033708691604],[0.08026647030284062,-2.461697490271512]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[-0.5238799872596877,1.1864881942456234,0.71338606911949],"aabb_xy":[[-0.5690513051078566,1.1224881971010852],[-0.4787086694115187,1.250488191390162]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[0.1987382805722363,1.1958174041116987,0.71338606911949],"aabb_xy":[[0.13474258317713972,1.1318174058109898],[0.2627339779673329,1.2598174024124071]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[-0.31350463340094414,1.2934366199603113,0.71338606911949],"aabb_xy":[[-0.40350463312411833,1.2703632674251313],[-0.22350463367777,1.316509972495491]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.3457792884535887,-0.0666058555546103,0.71338606911949],"aabb_xy":[[-0.3682784241798156,-0.08910585633287325],[-0.32328015272736166,-0.044105854776347306]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[-0.14867198925969638,0.6458655160847777,0.71338606911949],"aabb_xy":[[-0.18298826643431432,0.5958655161116],[-0.11435571208507844,0.6958655160579554]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[-0.5272064184586609,1.7757578701230181,0.71338606911949],"aabb_xy":[[-0.5517200425556668,1.7514932768209817],[-0.502692794361655,1.8000224634250546]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_26","position":[-0.3762112840882962,1.4627778843723216,0.71338606911949],"aabb_xy":[[-0.38662284276877984,1.4574321510364232],[-0.3657997254078124,1.46812361770822]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[-0.03853675723601313,0.3236465802767845,0.71338606911949],"aabb_xy":[[-0.05521389322910863,0.3069466563028542],[-0.02185962124291762,0.3403465042507148]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_28","position":[-0.5785966159245742,1.3902845178505685,0.71338606911949],"aabb_xy":[[-0.6285966168751069,1.3587353708470469],[-0.5285966149740413,1.4218336648540897]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_29","position":[0.26408845305560824,1.682096470340181,0.71338606911949],"aabb_xy":[[0.2506419264215649,1.6686266186870897],[0.2775349796896516,1.6955663219932724]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_30","position":[0.5286154240283281,-0.9720537396687379,0.71338606911949],"aabb_xy":[[0.5225784110276633,-0.9780804407376863],[0.5346524370289928,-0.9660270385997899]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_31","position":[-0.05786972229219611,1.0733552116396048,0.71338606911949],"aabb_xy":[[-0.10005413645302685,1.0093552113623938],[-0.01568530813136538,1.1373552119168162]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_32","position":[0.6497752607833436,-0.9812208611470328,0.71338606911949],"aabb_xy":[[0.6369033572824034,-1.061220861560869],[0.6626471642842837,-0.9012208607331967]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670802953540101,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9080.png","name":"9080"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9080.png","name":"9080"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8759.png","name":"8759"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9421.png","name":"9421"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2164.png","name":"2164"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1186.png","name":"1186"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":541.861115892406,"rotation_z_degrees":318.37459429126534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01583780224637638,0.007316470514591163,-0.019858164169237923]},{"name":"camera_2","offset_m":[0.002215859578334742,-0.0052084742128363,-0.016500073414074286]},{"name":"camera_3","offset_m":[-0.01612549786140922,0.011990541490016274,-0.013265865894953134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00034762710467237156,0.0007422422277561331,-0.00035625655945051445],"end_effector_yaw_offset_degrees":-0.14838219348784398},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004314532595658658,-0.000669981634216203,0.0009260282159032117],"end_effector_yaw_offset_degrees":-0.15951208551542684},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010711272477877674,0.0017587330062488566,0.001855072190943159],"end_effector_yaw_offset_degrees":0.6966703370000149}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0034918612283644694,-0.0014787629760707089],"position_m":[0.21529186122836447,0.022321237023929293,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031991667299775973,0.004941114850794639],"position_m":[0.2714008332700224,-0.30265888514920536,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033671186443799605,0.0016726459189655828],"position_m":[0.16023288135562003,0.22727264591896557,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004713053761247092,0.004113053060579905],"position_m":[0.3584130537612471,0.1723130530605799,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3cefd71167d03029395299a73129440cac553ed3878a838534608b0b82a83b3d","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9080/tex_ceiling_textures_1186/tex_floor_textures_2164/tex_table_textures_8759/tex_wall_textures_9421","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5852581063369138243,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5852581063369138243,"visual_seed":5852581063369138243,"scene_id":"lab_003","finished_at":"2026-09-04T17:18:06"} +{"episode_id":"ep_000080","started_at":"2026-09-04T17:18:10","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[-0.18747196810315991,0.857627435327466,0.71338606911949],"aabb_xy":[[-0.24246421873867088,0.8026274335841533],[-0.13247971746764897,0.9126274370707789]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[-0.6159691526668616,-2.163833675335749,0.71338606911949],"aabb_xy":[[-0.6273308873201476,-2.175202141742037],[-0.6046074180135753,-2.1524652089294602]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.07444221358612446,1.6599171481433026,0.71338606911949],"aabb_xy":[[-0.12944221276271395,1.604927473368345],[-0.019442214409534975,1.7149068229182602]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[0.2015302205177384,-1.2897413613850222,0.71338606911949],"aabb_xy":[[0.14153021887481654,-1.3417415106769663],[0.26153022216066024,-1.237741212093078]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[-0.46802729821155303,0.20345101908911012,0.71338606911949],"aabb_xy":[[-0.47959627895848966,0.1784510189721784],[-0.4564583174646165,0.22845101920604183]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[-0.3691882277956588,1.0853756587927657,0.71338606911949],"aabb_xy":[[-0.3916882280391742,1.0731710241329937],[-0.3466882275521434,1.0975802934525376]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_6","position":[-0.21841027853736145,-2.2412401677212705,0.71338606911949],"aabb_xy":[[-0.2569559713625625,-2.2797859387774593],[-0.1798645857121604,-2.202694396665082]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.40842768715817335,-0.956604632167056,0.71338606911949],"aabb_xy":[[0.40080341906799516,-0.9642378557036],[0.41605195524835165,-0.9489714086305125]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.502416514593431,0.17396682004343766,0.71338606911949],"aabb_xy":[[0.4224165176303917,0.09689117839966419],[0.58241651155647,0.2510424616872111]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[0.18455669538131447,-1.1634674353836878,0.71338606911949],"aabb_xy":[[0.17398921572321543,-1.1740124654966964],[0.19512417503941346,-1.1529224052706792]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[0.28621452280381077,1.4145967223420075,0.71338606911949],"aabb_xy":[[0.22121452016601728,1.3631171236425603],[0.35121452544160425,1.4660763210414542]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[0.3128277123185095,1.606270686723899,0.71338606911949],"aabb_xy":[[0.2628284371500733,1.5562706854479518],[0.36282698748694564,1.6562706879998461]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.6166153639222315,0.4698638317367805,0.71338606911949],"aabb_xy":[[-0.6366737755354718,0.44979874482762294],[-0.5965569523089912,0.489928918645938]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[-0.6148902089304056,-2.477118082134718,0.71338606911949],"aabb_xy":[[-0.632683715865322,-2.4949178277305157],[-0.5970967019954891,-2.4593183365389204]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.5674650656397326,-0.931314460459838,0.71338606911949],"aabb_xy":[[-0.6019275436528203,-0.9379781376427608],[-0.5330025876266448,-0.9246507832769152]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[0.21864721719650593,0.8466142298630386,0.71338606911949],"aabb_xy":[[0.19736920905303365,0.7816142275369654],[0.23992522533997815,0.9116142321891115]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[-0.528475937570148,1.573915937004474,0.71338606911949],"aabb_xy":[[-0.5355162475036851,1.4939159376048028],[-0.5214356276366111,1.6539159364041458]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[-0.20903928008345296,-1.4129753995767742,0.71338606911949],"aabb_xy":[[-0.2551243713381844,-1.4769753968293293],[-0.16295418882872145,-1.348975402324219]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[0.4298426901660566,1.2326133686911898,0.71338606911949],"aabb_xy":[[0.42541206081121646,1.2271649969565075],[0.4342733195208968,1.2380617404258725]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[-0.6216699436692285,0.6548178703891181,0.71338606911949],"aabb_xy":[[-0.6856699469589365,0.6114829513852004],[-0.5576699403795202,0.6981527893930356]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[-0.5135762873870293,-1.4023798008030692,0.71338606911949],"aabb_xy":[[-0.5310762876463659,-1.4164713429918419],[-0.4960762871276927,-1.3882882586142966]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.6393523078910472,0.782896299316465,0.71338606911949],"aabb_xy":[[0.6018523075988723,0.7788548239158612],[0.676852308183222,0.7869377747170685]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[0.2649135247623602,0.5852558539440564,0.71338606911949],"aabb_xy":[[0.24885159730384257,0.5002558521314646],[0.28097545222087783,0.6702558557566483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6682054443610064,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7683.png","name":"7683"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3049.png","name":"3049"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5557.png","name":"5557"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":573.9576257937405,"rotation_z_degrees":106.92204172216799,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00047887825111580726,-0.0023082930880355436,-0.00800167683479729]},{"name":"camera_2","offset_m":[-0.0011147279849907273,-0.0012766128566654572,0.00952868729057181]},{"name":"camera_3","offset_m":[0.0010440285741488732,0.019212516968058143,-0.00844492439560042]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.48147137468699e-05,-0.0002145157113525298,2.78419854257677e-05],"end_effector_yaw_offset_degrees":0.8570159785577762},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010357273064177273,-0.0017856355090774634,-0.0008826244195942984],"end_effector_yaw_offset_degrees":0.16862695433460329},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00020998317897605225,3.449835301226785e-05,-0.0004952533477317993],"end_effector_yaw_offset_degrees":-0.2908690474986855}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0023288913726765437,-0.004448883158261938],"position_m":[0.21412889137267654,0.019351116841738063,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002392456956416731,0.00404603530201835],"position_m":[0.2722075430435833,-0.3035539646979816,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038355443321461537,0.004216157462966704],"position_m":[0.15976445566785386,0.22981615746296669,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004602561013123084,0.002641694096909809],"position_m":[0.35323974389868773,0.1708416940969098,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"906b30bab41bdbae0cf4409e82ccae0ef296fe8ad4aa15f07fc18735ac5f09bb","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4206/tex_ceiling_textures_9650/tex_floor_textures_5557/tex_table_textures_7683/tex_wall_textures_3049","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5373841462395549444,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5373841462395549444,"visual_seed":5373841462395549444,"scene_id":"lab_003","finished_at":"2026-09-04T17:21:01"} +{"episode_id":"ep_000081","started_at":"2026-09-04T17:21:04","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[0.5247967623557563,-2.4297271067876016,0.71338606911949],"aabb_xy":[[0.4447967590979134,-2.509723614579586],[0.6047967656135993,-2.349730598995618]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.40857415704743705,-0.9876484462211399,0.71338606911949],"aabb_xy":[[0.3981625983669533,-0.9929941795570383],[0.4189857157279207,-0.9823027128852413]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.4644252257488497,0.5836786256219932,0.71338606911949],"aabb_xy":[[0.44192522622514224,0.5611826781713724],[0.48692522527255705,0.6061745730726139]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.14881641733752826,-0.7233792457702382,0.71338606911949],"aabb_xy":[[0.103537802456379,-0.7873792451184218],[0.19409503221867752,-0.6593792464220545]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[-0.596595773305532,0.05714189961619853,0.71338606911949],"aabb_xy":[[-0.6865957769824501,-0.004290506960905819],[-0.5065957696286137,0.11857430619330286]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.6056046965846085,-2.3880675404207885,0.71338606911949],"aabb_xy":[[-0.66960469892741,-2.43300839166492],[-0.5416046942418069,-2.343126689176655]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[0.16952154185765544,1.2177881139337763,0.71338606911949],"aabb_xy":[[0.08952154320076944,1.2032832550095134],[0.24952154051454145,1.2322929728580392]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.30439095320638687,0.6256561318830323,0.71338606911949],"aabb_xy":[[0.27654591642577975,0.5948716331447206],[0.332235989986994,0.656440630621344]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.34045714098738994,-1.8781697573275835,0.71338606911949],"aabb_xy":[[-0.3505388480659634,-1.9581697552196982],[-0.33037543390881646,-1.7981697594354689]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[-0.6695449497114748,-1.8293861802452258,0.71338606911949],"aabb_xy":[[-0.6803179236328426,-1.8643861784642646],[-0.658771975790107,-1.7943861820261866]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[0.22459646625307195,-1.9594054793883249,0.71338606911949],"aabb_xy":[[0.15459646286150996,-1.9947212530917555],[0.29459646964463393,-1.9240897056848938]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.188329345505046,-1.773323556721647,0.71338606911949],"aabb_xy":[[-0.1942958844457818,-1.7792847013810107],[-0.18236280656431023,-1.7673624120622824]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.12049277568211092,1.6443798378750345,0.71338606911949],"aabb_xy":[[-0.1423825232710517,1.5543798405857852],[-0.0986030280931701,1.7343798351642834]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[0.2893967302747673,-1.3698967873825854,0.71338606911949],"aabb_xy":[[0.26310790595432665,-1.3961682210372364],[0.315685554595208,-1.343625353727934]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.14194096991759464,-1.0951343536161446,0.71338606911949],"aabb_xy":[[0.07794096850960396,-1.146923305140069],[0.20594097132558528,-1.0433454020922195]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[0.04936737026695426,-0.7237569048179426,0.71338606911949],"aabb_xy":[[0.03749528725545315,-0.808756904511593],[0.06123945327845537,-0.6387569051242923]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.641632214782107,1.6217579931871229,0.71338606911949],"aabb_xy":[[0.6367329224755434,1.5940810738845537],[0.6465315070886704,1.6494349124896912]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.248780416251782,-0.3103441340136839,0.71338606911949],"aabb_xy":[[-0.2982608374657407,-0.3743441319265357],[-0.19929999503782317,-0.24634413610083206]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.5284921100379321,1.19594429137651,0.71338606911949],"aabb_xy":[[-0.5584837727718023,1.1659442920397094],[-0.4985004473040616,1.2259442907133105]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.2716774390455351,-2.335712056167137,0.71338606911949],"aabb_xy":[[0.21167743879413392,-2.389993381203601],[0.33167743929693627,-2.2814307311306723]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.34872307863708796,0.9964982430916511,0.71338606911949],"aabb_xy":[[-0.3602920593840246,0.9714982429747195],[-0.33715409789015144,1.0214982432085828]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[0.020589350552353336,-1.3720053812436608,0.71338606911949],"aabb_xy":[[-0.029410649808212726,-1.4219853684532635],[0.07058935091291939,-1.3220253940340576]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.4694384074925293,1.1414179157640745,0.71338606911949],"aabb_xy":[[0.4641008318265248,1.1164179148349345],[0.4747759831585339,1.166417916693214]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[-0.494600118648413,1.7780230714518086,0.71338606911949],"aabb_xy":[[-0.5546001195092256,1.7265966414453222],[-0.4346001177876001,1.829449501458295]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[0.6321543176941693,-1.4830492788829448,0.71338606911949],"aabb_xy":[[0.6096543171821287,-1.5055411372483432],[0.6546543182062099,-1.4605574205175464]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[-0.2964734769672158,-0.7671011884375354,0.71338606911949],"aabb_xy":[[-0.3189698984010799,-0.7896011882442829],[-0.2739770555333517,-0.7446011886307881]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.34781125686567116,0.7921407433743028,0.71338606911949],"aabb_xy":[[-0.3654868874542695,0.7744605270949],[-0.3301356262770728,0.8098209596537055]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[0.4838058326058212,1.4300170803051242,0.71338606911949],"aabb_xy":[[0.4500302734151282,1.4159785850919593],[0.5175813917965142,1.4440555755182891]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_28","position":[0.2882881441439701,-2.5085141463400156,0.71338606911949],"aabb_xy":[[0.26374192852121936,-2.538763042889052],[0.3128343597667208,-2.478265249790978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6766522473503797,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6355.png","name":"6355"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6355.png","name":"6355"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3061.png","name":"3061"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9394.png","name":"9394"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2357.png","name":"2357"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7545.png","name":"7545"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":618.5035427534085,"rotation_z_degrees":85.3208733953464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013293301283811655,-0.004339651491364251,0.013016687097767748]},{"name":"camera_2","offset_m":[0.0030719763205072532,-0.006823413804508993,-0.006610887942120206]},{"name":"camera_3","offset_m":[-0.004022054453445844,0.0058585693707084475,-0.01933832121857767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004911755653916982,-0.0005031048135734277,0.0014626625690266105],"end_effector_yaw_offset_degrees":-0.0687836344342827},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001287155157952794,-0.0017755957804552569,0.0011286465034380621],"end_effector_yaw_offset_degrees":0.9821005157408194},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001724873396736585,0.0007547170103623566,0.0010311796691015547],"end_effector_yaw_offset_degrees":-0.5093563134044161}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004620110538814543,0.003009765919631692],"position_m":[0.21642011053881452,0.026809765919631693,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002882754352274094,-0.0041634200038849056],"position_m":[0.2774827543522741,-0.3117634200038849,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013279377149941728,0.002072134494851493],"position_m":[0.16227206228500582,0.2276721344948515,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037922210231359464,0.0026141111632995862],"position_m":[0.3499077789768641,0.1708141111632996,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d17dcf9210c830f673f79032f7eddbf51c326fac8603e97444001369c21e7d72","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6355/tex_ceiling_textures_7545/tex_floor_textures_2357/tex_table_textures_3061/tex_wall_textures_9394","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6582275203505898311,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6582275203505898311,"visual_seed":6582275203505898311,"scene_id":"lab_003","finished_at":"2026-09-04T17:24:09"} +{"episode_id":"ep_000082","started_at":"2026-09-04T17:24:12","dimensions":{"distractor":{"count":31,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.5299623799906772,1.1228295156705288,0.71338606911949],"aabb_xy":[[0.44996237952046125,1.1145188080561805],[0.6099623804608931,1.131140223284877]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[-0.6315525451225826,-1.7548139567940328,0.71338606911949],"aabb_xy":[[-0.6396661997959597,-1.7629197732480621],[-0.6234388904492055,-1.746708140340004]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[-0.12474145569245332,-0.42288783316009804,0.71338606911949],"aabb_xy":[[-0.14217217077145977,-0.4401599478239488],[-0.10731074061344678,-0.40561571849624717]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.4655148621553966,-1.9201577595578179,0.71338606911949],"aabb_xy":[[0.4015148657280747,-1.9673273833799143],[0.5295148585827185,-1.8729881357357214]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.25520027648394217,1.7577190341066466,0.71338606911949],"aabb_xy":[[0.23020027693220368,1.7475765502415115],[0.28020027603568065,1.767861517971781]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[-0.4942458235278201,-0.2753090128831621,0.71338606911949],"aabb_xy":[[-0.5074767690625014,-0.2885364319051615],[-0.4810148779931388,-0.26208159386116264]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.1076393287579741,-1.080896809619045,0.71338606911949],"aabb_xy":[[0.05782254929313935,-1.1308968081033484],[0.15745610822280887,-1.0308968111347416]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[0.15675251146437086,-1.4538405387905788,0.71338606911949],"aabb_xy":[[0.0667525091303518,-1.5313228933756915],[0.24675251379838992,-1.3763581842054662]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[0.32173893445974344,-2.373686688033313,0.71338606911949],"aabb_xy":[[0.2317389358652735,-2.3899372743467344],[0.4117389330542134,-2.357436101719892]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.07284642256353135,-0.5793063368841573,0.71338606911949],"aabb_xy":[[-0.1368464242415287,-0.6278237283634714],[-0.008846420885534015,-0.530788945404843]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.154707755059591,-0.9099018791630158,0.71338606911949],"aabb_xy":[[-0.2197077536166638,-0.9396544125768983],[-0.08970775650251814,-0.8801493457491331]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[0.43109344967157814,1.6887955110005461,0.71338606911949],"aabb_xy":[[0.3810934480100833,1.6387970687448432],[0.48109345133307285,1.7387939532562486]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.2683013423918764,1.143352093441114,0.71338606911949],"aabb_xy":[[0.2083013417958603,1.0885396208958904],[0.32830134298789265,1.1981645659863374]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.07908527597245285,1.1262300053847314,0.71338606911949],"aabb_xy":[[-0.09065425671938943,1.1012300052677997],[-0.06751629522551628,1.151230005501663]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.3150520057223601,-2.12886143573707,0.71338606911949],"aabb_xy":[[-0.3375167756937652,-2.15136143661593],[-0.29258723575095497,-2.106361434858209]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.06537773378673062,1.4149597413735848,0.71338606911949],"aabb_xy":[[0.0013777344925623852,1.3509736010047306],[0.12937773308089884,1.478945881742439]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[-0.012375493281702288,-1.2886882623119427,0.71338606911949],"aabb_xy":[[-0.03866431760214294,-1.3149596959665937],[0.013913331038738371,-1.2624168286572912]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.6265200788569594,1.4254149533969165,0.71338606911949],"aabb_xy":[[0.5565200762203728,1.405310088401051],[0.6965200814935455,1.445519818392782]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[0.13269169020107774,-2.229814411446776,0.71338606911949],"aabb_xy":[[0.11448586653983006,-2.2408398120287676],[0.15089751386232542,-2.2187890108647843]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[0.33988810443291895,0.8151093075732354,0.71338606911949],"aabb_xy":[[0.3048881030814372,0.7947495716164146],[0.3748881057844007,0.8354690435300562]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.15455178590000307,1.2843535007641718,0.71338606911949],"aabb_xy":[[-0.16701914400973872,1.2718881761308485],[-0.14208442779026742,1.2968188253974955]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[-0.6196292269130156,0.06536566804829747,0.71338606911949],"aabb_xy":[[-0.6846292279135161,0.014579302893622512],[-0.5546292259125151,0.11615203320297239]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.27871317599486345,0.33193965311885565,0.71338606911949],"aabb_xy":[[-0.3427131766983328,0.28592127064593464],[-0.2147131752913941,0.3779580355917767]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[-0.3132219175197975,1.0162376194135394,0.71338606911949],"aabb_xy":[[-0.3969441430198799,0.9262376158788435],[-0.22949969201971498,1.1062376229482354]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[0.4170364830171678,-1.7916523275637775,0.71338606911949],"aabb_xy":[[0.4044096957299714,-1.8011984012653504],[0.4296632703043641,-1.7821062538622046]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[0.5928808378038859,-1.7504197380004851,0.71338606911949],"aabb_xy":[[0.5278808399222381,-1.801543401707026],[0.6578808356855337,-1.6992960742939442]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[0.3201603137909659,-0.806442426391557,0.71338606911949],"aabb_xy":[[0.31223703355221755,-0.8289424266295605],[0.3280835940297142,-0.7839424261535538]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_27","position":[-0.010156664430873819,1.5942764306985189,0.71338606911949],"aabb_xy":[[-0.07415666764951168,1.5475533187995105],[0.05384333878776404,1.6409995425975272]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_28","position":[0.3988396865060957,-0.6674480858840808,0.71338606911949],"aabb_xy":[[0.3942045713538622,-0.6713154209612293],[0.40347480165832894,-0.663580750806932]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[0.31598598140454803,0.39259411867872895,0.71338606911949],"aabb_xy":[[0.2960949415242078,0.3799383073940322],[0.3358770212848883,0.4052499299634259]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_30","position":[0.6848414933356073,-0.673739233803512,0.71338606911949],"aabb_xy":[[0.6729087589737792,-0.6861213866113712],[0.6967742276974354,-0.6613570809956525]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6756961430663057,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2284.png","name":"2284"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2284.png","name":"2284"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6944.png","name":"6944"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/538.png","name":"538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4094.png","name":"4094"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4727.png","name":"4727"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":604.7983167024038,"rotation_z_degrees":147.7047866025573,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012537005109126788,-0.00220606229943646,0.018719620090816107]},{"name":"camera_2","offset_m":[-0.01618548337302231,0.017063523383128252,-0.016841547562945914]},{"name":"camera_3","offset_m":[0.018378897507281524,0.008555762040454103,-0.0067827576374846505]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005126222497457717,-0.001952780181038809,0.0006499423097868647],"end_effector_yaw_offset_degrees":0.3275306462574725},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001532849553356063,0.0009345632342473223,-0.0003675048427270564],"end_effector_yaw_offset_degrees":-0.6368611614561492},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000297476017806087,-4.4822470582875536e-05,0.00152424755981438],"end_effector_yaw_offset_degrees":-0.02147947580897558}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006198413635663223,0.001785682124652332],"position_m":[0.21241984136356631,0.025585682124652336,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004146638849599153,0.0003804157694467314],"position_m":[0.27874663884959916,-0.30721958423055323,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00418737022377628,-0.0019923834321424537],"position_m":[0.15941262977622372,0.22360761656785755,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003645238129533328,-0.0013551357057328783],"position_m":[0.3500547618704667,0.16684486429426712,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"edb580340e162293050d01475cd9bce784c421513e08954f4f95214666b28ee0","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2284/tex_ceiling_textures_4727/tex_floor_textures_4094/tex_table_textures_6944/tex_wall_textures_538","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1672202806275175357,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1672202806275175357,"visual_seed":1672202806275175357,"scene_id":"lab_003","finished_at":"2026-09-04T17:26:55"} +{"episode_id":"ep_000083","started_at":"2026-09-04T17:26:57","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[-0.26149146614727603,0.589952549566858,0.71338606911949],"aabb_xy":[[-0.27234307239615163,0.579093258839207],[-0.25063985989840043,0.6008118402945091]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.3370811192835734,-0.1837252949798316,0.71338606911949],"aabb_xy":[[-0.36208111883531185,-0.1938677788449663],[-0.3120811197318349,-0.17358281111469687]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.6266093639694206,-2.4430935302609944,0.71338606911949],"aabb_xy":[[0.6205147360813024,-2.451662924812663],[0.632703991857539,-2.4345241357093257]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[0.14010945093130145,-1.7065445017974816,0.71338606911949],"aabb_xy":[[0.10633389174060848,-1.7205829970106465],[0.17388501012199442,-1.6925060065843163]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.06684808567731759,-1.2192357223739985,0.71338606911949],"aabb_xy":[[-0.013151915752809606,-1.298752877386608],[0.1468480871074448,-1.139718567361389]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.5896114006809321,1.6929127567305646,0.71338606911949],"aabb_xy":[[0.5256113990029347,1.6443953652512502],[0.6536114023589294,1.7414301482098786]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.4510561633613075,-1.226553873766838,0.71338606911949],"aabb_xy":[[0.40123938389647273,-1.2765538722511411],[0.5008729428261423,-1.1765538752825344]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[0.6384082200538657,-1.9489607557797812,0.71338606911949],"aabb_xy":[[0.5971594090239507,-2.0039607552919985],[0.6796570310837802,-1.8939607562675635]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.28205011476667263,0.1961470315649798,0.71338606911949],"aabb_xy":[[-0.34205011640959443,0.14414688227303563],[-0.22205011312375073,0.248147180856924]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.6697153607547829,-2.1718306978733817,0.71338606911949],"aabb_xy":[[-0.6848782337317201,-2.1869961551685004],[-0.6545524877778459,-2.156665240578263]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.3566567175483524,-2.1667850399251214,0.71338606911949],"aabb_xy":[[0.30665671618746515,-2.216762944500537],[0.4066567189092396,-2.1168071353497058]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[-0.6220948487268328,-1.3378185109459608,0.71338606911949],"aabb_xy":[[-0.6860948519454708,-1.3845416228449694],[-0.5580948455081951,-1.2910953990469527]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.45368797771697605,0.5494694627524748,0.71338606911949],"aabb_xy":[[-0.4590204923715891,0.5441451345072393],[-0.4483554630623631,0.5547937909977104]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.48909055301488435,0.697477842902245,0.71338606911949],"aabb_xy":[[0.4250905509651523,0.6573833598129372],[0.5530905550646164,0.7375723259915531]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.281365746635474,1.6959677325602622,0.71338606911949],"aabb_xy":[[0.27640972645059286,1.6734677323581408],[0.2863217668203552,1.718467732762384]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[-0.19383131655793673,0.4335904140379925,0.71338606911949],"aabb_xy":[[-0.27383131514525616,0.3542748120998316],[-0.11383131797061731,0.5129060159761534]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.36985626479570166,0.6782834211111464,0.71338606911949],"aabb_xy":[[-0.4198562642358972,0.62831549662683],[-0.319856265355506,0.7282513455954626]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[0.7072517824444187,0.03822031285067329,0.71338606911949],"aabb_xy":[[0.6946490833073422,0.025624916625807792],[0.7198544815814951,0.050815709075538784]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[0.6998998975588702,1.3256584258845905,0.71338606911949],"aabb_xy":[[0.6748998982869079,1.309313062288428],[0.7248998968308324,1.3420037894807526]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[0.5519728086677131,-0.7361422636102217,0.71338606911949],"aabb_xy":[[0.4879728082901794,-0.785887530461034],[0.6159728090452466,-0.6863969967594095]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[-0.5744292495066332,1.0656313500153107,0.71338606911949],"aabb_xy":[[-0.5957072576501055,1.0006313476892374],[-0.553151241363161,1.1306313523413836]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[-0.22757572229163253,-1.8027109741914324,0.71338606911949],"aabb_xy":[[-0.24102224892567584,-1.8161808258445236],[-0.21412919565758917,-1.7892411225383413]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[0.42400456272044984,-0.8687096908123406,0.71338606911949],"aabb_xy":[[0.4185466170834298,-0.9487096941199996],[0.4294625083574699,-0.7887096875046814]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[0.6557253580232483,1.415368499582819,0.71338606911949],"aabb_xy":[[0.6398408647579231,1.401015559283995],[0.6716098512885734,1.4297214398816431]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[0.004274481753300696,0.9779108999844408,0.71338606911949],"aabb_xy":[[-0.05071776888221026,0.9229108982411282],[0.05926673238881165,1.0329109017277536]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.13559533215070252,-0.7907541761667707,0.71338606911949],"aabb_xy":[[-0.1453513216598764,-0.8005167102260051],[-0.12583934264152863,-0.7809916421075362]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[0.32567635634113157,-1.8260773656934952,0.71338606911949],"aabb_xy":[[0.30866625905108086,-1.8422118541917691],[0.34268645363118216,-1.8099428771952213]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6721995866591617,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7070.png","name":"7070"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7070.png","name":"7070"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6587.png","name":"6587"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/479.png","name":"479"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2668.png","name":"2668"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":596.6375206050964,"rotation_z_degrees":238.02330281443977,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019723669730378687,-0.004946541573927403,0.014046546336440435]},{"name":"camera_2","offset_m":[-0.01801436983517968,0.0028191964662582294,0.0017902388025396523]},{"name":"camera_3","offset_m":[-0.015279386160582775,-0.008714419010285539,-0.017430207443308903]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00020118117750012347,-0.00017602511628203176,0.00038054440197057664],"end_effector_yaw_offset_degrees":-0.13271473144801238},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010628118484248706,-0.001815674903016575,0.0007745535333841661],"end_effector_yaw_offset_degrees":-0.44455839869293223},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001906450069655694,-0.0012421531039956202,0.001890415400438402],"end_effector_yaw_offset_degrees":0.467664302393511}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0001363838591449569,-0.001390555017035723],"position_m":[0.21166361614085502,0.02240944498296428,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001641449111219987,-0.003211828245392393],"position_m":[0.27295855088878,-0.3108118282453924,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011053644760606763,0.003232278950885144],"position_m":[0.16470536447606068,0.22883227895088515,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003522912546287167,0.0019974252163010055],"position_m":[0.3572229125462872,0.170197425216301,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"806a0e7e02fb1b0332c2ecdb26d8e6008b7782955b55b4af850e9af68b08cce9","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7070/tex_ceiling_textures_2668/tex_floor_textures_9846/tex_table_textures_6587/tex_wall_textures_479","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1899262380472710740,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1899262380472710740,"visual_seed":1899262380472710740,"scene_id":"lab_003","finished_at":"2026-09-04T17:29:41"} +{"episode_id":"ep_000084","started_at":"2026-09-04T17:29:43","dimensions":{"distractor":{"count":29,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.1778568322682319,-1.5521550491009457,0.71338606911949],"aabb_xy":[[-0.18876260835579461,-1.6321550454997749],[-0.1669510561806692,-1.4721550527021166]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[-0.4749985704051037,-1.2262870627606246,0.71338606911949],"aabb_xy":[[-0.4975122622285609,-1.296287063361632],[-0.4524848785816465,-1.1562870621596169]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[0.6892063077369288,1.0924757521200896,0.71338606911949],"aabb_xy":[[0.6778445730836425,1.0811072857138015],[0.7005680423902149,1.1038442185263777]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[0.2012579149829592,-1.0494699951058446,0.71338606911949],"aabb_xy":[[0.1952913760422234,-1.0554311397652087],[0.20722445392369498,-1.0435088504464805]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.1304939062113597,0.9936162461900717,0.71338606911949],"aabb_xy":[[0.11726296067667838,0.9803888271680722],[0.14372485174604097,1.0068436652120711]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.4202272784633887,-0.6246702342545205,0.71338606911949],"aabb_xy":[[0.37920933507701776,-0.6746702348854778],[0.4612452218497595,-0.5746702336235632]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[-0.6541092336494707,1.377510751073935,0.71338606911949],"aabb_xy":[[-0.6776943571133656,1.3125107488285035],[-0.6305241101855759,1.442510753319367]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.5899315185726193,0.1454496512348804,0.71338606911949],"aabb_xy":[[0.5850322262660557,0.11777273193231164],[0.5948308108791827,0.17312657053744918]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[0.27490131909208204,-1.7326296957207732,0.71338606911949],"aabb_xy":[[0.26620335680136675,-1.744754670028248],[0.28359928138279733,-1.7205047214132985]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.573307625429512,1.0906245573838902,0.71338606911949],"aabb_xy":[[0.568464030668282,1.085772904904906],[0.5781512201907419,1.0954762098628743]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.516606858018796,-1.0096749171396653,0.71338606911949],"aabb_xy":[[-0.5246008465964993,-1.0176749972347554],[-0.5086128694410925,-1.0016748370445747]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.10213576553945791,-1.9952122305389377,0.71338606911949],"aabb_xy":[[0.03813576413146726,-2.047001182062862],[0.16613576694744858,-1.9434232790150128]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.32946140457942563,-0.5450782195760393,0.71338606911949],"aabb_xy":[[-0.3495198161926659,-0.5651433064851968],[-0.30940299296618534,-0.5250131326668818]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.5973346074950565,-1.7591094048444056,0.71338606911949],"aabb_xy":[[-0.6773284310736147,-1.8391094074372474],[-0.5173407839164983,-1.6791094022515642]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[0.41394305965106915,1.467503663114734,0.71338606911949],"aabb_xy":[[0.402070976639568,1.3825036634210837],[0.4258151426625702,1.5525036628083844]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[0.6091662767873691,0.7550765057424491,0.71338606911949],"aabb_xy":[[0.5441662767530664,0.7083758290621219],[0.6741662768216719,0.8017771824227765]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[-0.18132157360439416,1.6003820371317325,0.71338606911949],"aabb_xy":[[-0.2613215705674333,1.5233063954879589],[-0.10132157664135497,1.6774576787755058]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[0.20596308385292916,-0.8030537692113848,0.71338606911949],"aabb_xy":[[0.20182722752022897,-0.8405537686557418],[0.21009894018562936,-0.7655537697670278]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[-0.5230789578248071,0.43019729904193227,0.71338606911949],"aabb_xy":[[-0.5580789591762887,0.4098375630851114],[-0.4880789564733253,0.45055703499875305]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.4064452225259424,1.1248520237796784,0.71338606911949],"aabb_xy":[[-0.44329577046293,1.0873520229566447],[-0.3695946745889548,1.1623520246027121]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[-0.1895236857373077,0.8050674231276007,0.71338606911949],"aabb_xy":[[-0.23950663592478702,0.7550674234850401],[-0.13954073554982835,0.8550674227701609]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.1699186105940117,-0.406900469500604,0.71338606911949],"aabb_xy":[[-0.2249108612295227,-0.4619004712439168],[-0.11492635995850078,-0.3519004677572912]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[-0.14565656480532096,-1.758807854922384,0.71338606911949],"aabb_xy":[[-0.20965656809502908,-1.8021427739263016],[-0.08165656151561286,-1.7154729359184664]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[0.0342488398055667,-2.4792053019503477,0.71338606911949],"aabb_xy":[[-0.0007511584645532032,-2.486279429645336],[0.0692488380756866,-2.4721311742553596]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[0.5064996728200828,0.2844792664259286,0.71338606911949],"aabb_xy":[[0.4814996728875649,0.27759659820500526],[0.5314996727526007,0.2913619346468519]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[0.3419120920903438,-2.2084141110376128,0.71338606911949],"aabb_xy":[[0.27691209353327095,-2.238166644451495],[0.4069120906474166,-2.1786615776237297]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_26","position":[-0.3626943667223732,-0.1414755526011091,0.71338606911949],"aabb_xy":[[-0.45269436345798336,-0.1946590159184036],[-0.27269436998676294,-0.08829208928381457]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[-0.5137921098205824,-1.9267536774002325,0.71338606911949],"aabb_xy":[[-0.524203668501066,-1.9320994107361305],[-0.5033805511400986,-1.9214079440643337]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[-0.09342101207635778,1.1377914179634532,0.71338606911949],"aabb_xy":[[-0.17342101533420073,1.057794910171469],[-0.013421008818514837,1.217787925755437]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712608067155316,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2510.png","name":"2510"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2510.png","name":"2510"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5736.png","name":"5736"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4893.png","name":"4893"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/870.png","name":"870"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5288.png","name":"5288"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":822.9766601268587,"rotation_z_degrees":256.5186042766926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00023392037222685208,-0.01728652339245965,-0.0014773107562978567]},{"name":"camera_2","offset_m":[0.004364684966000943,-0.014215569684730945,0.01879829832729316]},{"name":"camera_3","offset_m":[0.011326547903746837,0.0051469703101251416,-0.015211075640752072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002480182419954198,0.0009231362425716557,-0.0001730574683718605],"end_effector_yaw_offset_degrees":0.6221870088538146},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008316966791126973,-0.0012447001809545023,0.0014995340018236058],"end_effector_yaw_offset_degrees":-0.1794215050689374},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002791610688126431,-0.0011577058565490272,-7.640019186346166e-05],"end_effector_yaw_offset_degrees":-0.5198667573715736}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004598580655976092,-0.0019042190008881242],"position_m":[0.21639858065597609,0.021895780999111877,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-6.761907172038797e-05,0.0018806782306159744],"position_m":[0.27453238092827964,-0.305719321769384,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036168461262656394,0.0011482000670141367],"position_m":[0.16721684612626564,0.22674820006701413,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004151270851823824,-0.002821120199735311],"position_m":[0.3495487291481762,0.16537887980026467,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"197fe82415b14c358ad1f142929b2baed5dabdaad2c7024d49b881689ba2176e","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0084.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2510/tex_ceiling_textures_5288/tex_floor_textures_870/tex_table_textures_5736/tex_wall_textures_4893","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5285146595874340587,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5285146595874340587,"visual_seed":5285146595874340587,"scene_id":"lab_003","finished_at":"2026-09-04T17:32:26"} +{"episode_id":"ep_000085","started_at":"2026-09-04T17:32:29","dimensions":{"distractor":{"count":31,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[-0.29910699284450304,-2.5258879471358897,0.71338606911949],"aabb_xy":[[-0.3241069920101361,-2.5328401928412463],[-0.27410699367886987,-2.518935701430533]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.4295930815857998,0.9178703289387609,0.71338606911949],"aabb_xy":[[0.379593080635267,0.8863211819352395],[0.4795930825363326,0.9494194759422823]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.43423233620125434,-1.3684640451217565,0.71338606911949],"aabb_xy":[[0.41913003474023613,-1.383565566752818],[0.44933463766227233,-1.353362523490694]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.4519094090842857,-1.2564184088781212,0.71338606911949],"aabb_xy":[[0.39690941088254084,-1.2969403755045588],[0.5069094072860305,-1.2158964422516836]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[-0.36924327475646096,-0.5435118727672434,0.71338606911949],"aabb_xy":[[-0.40354018577420153,-0.5778087589771846],[-0.3349463637387203,-0.509214986557302]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.6036060933330267,0.5417872269640274,0.71338606911949],"aabb_xy":[[0.5869289573399312,0.5250873029900971],[0.6202832293261222,0.5584871509379576]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[-0.1753682923930745,-1.6512242870690907,0.71338606911949],"aabb_xy":[[-0.2118641130203532,-1.6877082294958483],[-0.13887247176579573,-1.6147403446423332]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[0.4433952035130526,-2.342602437745426,0.71338606911949],"aabb_xy":[[0.4373005756249343,-2.3511718322970947],[0.44948983140117094,-2.3340330431937573]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.554437497371183,-2.116204857854073,0.71338606911949],"aabb_xy":[[0.5294374980992206,-2.132550221450235],[0.5794374966431451,-2.0998594942579105]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.5506968083718662,1.2269941307839596,0.71338606911949],"aabb_xy":[[0.5424822632561821,1.2183175404863178],[0.5589113534875501,1.2356707210816005]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.25198385682753976,0.8964300289223162,0.71338606911949],"aabb_xy":[[0.20199074471834788,0.8464300282481206],[0.30197696893673165,0.9464300295965119]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.21703408025196225,-2.1996574933721815,0.71338606911949],"aabb_xy":[[-0.22407439018549927,-2.279657492771853],[-0.20999377031842528,-2.11965749397251]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[-0.6561835301059011,0.711635887019594,0.71338606911949],"aabb_xy":[[-0.6717392995161666,0.6960854537751868],[-0.6406277606956361,0.7271863202640012]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[0.11154123096380797,1.1777608184710546,0.71338606911949],"aabb_xy":[[0.08699501534105725,1.1475119219220176],[0.1360874465865587,1.2080097150200917]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.2884917355241643,-2.057547033609559,0.71338606911949],"aabb_xy":[[0.23349173590241845,-2.112530726397032],[0.34349173514591014,-2.0025633408220864]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[-0.3075144859045639,0.27786907023159735,0.71338606911949],"aabb_xy":[[-0.3875144833081573,0.1978764990334145],[-0.22751448850097047,0.3578616414297801]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.5603009422343583,-0.025070274525858416,0.71338606911949],"aabb_xy":[[0.5378045208004941,-0.047570274332605855],[0.5827973636682223,-0.0025702747191109765]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.16074895017556146,1.5029015977532985,0.71338606911949],"aabb_xy":[[-0.21572267221189437,1.4479015981890653],[-0.1057752281392286,1.5579015973175316]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[0.3931830565786225,0.3165757807773182,0.71338606911949],"aabb_xy":[[0.3556830564067505,0.28387504539441094],[0.4306830567504944,0.3492765161602253]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[-0.39483314987908835,-1.4433368604067849,0.71338606911949],"aabb_xy":[[-0.45983315083621557,-1.4952850723404905],[-0.32983314892196114,-1.3913886484730793]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[-0.10416549789387641,0.040722647305019954,0.71338606911949],"aabb_xy":[[-0.11294672504111267,0.03194290001648982],[-0.09538427074664022,0.049502394593550124]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.04834621877288381,-2.469138400297167,0.71338606911949],"aabb_xy":[[-0.11234622018087446,-2.5209273518210913],[0.015653782635106857,-2.417349448773242]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[0.27187271814308167,1.334344758725237,0.71338606911949],"aabb_xy":[[0.20687271958600884,1.3045922253113544],[0.3368727167001545,1.3640972921391197]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[-0.5777491547996926,-1.7819438785920945,0.71338606911949],"aabb_xy":[[-0.6152491549052854,-1.7887660404450756],[-0.5402491546940995,-1.7751217167391133]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[0.42631037370794367,-1.5999550642354237,0.71338606911949],"aabb_xy":[[0.37631536274849176,-1.6499550632710156],[0.4763053846673958,-1.5499550651998322]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[-0.6229743623266952,-2.1683655947122333,0.71338606911949],"aabb_xy":[[-0.6330560694052686,-2.2483655926043475],[-0.6128926552481216,-2.0883655968201182]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_26","position":[-0.3982592935153731,-1.6199111508043136,0.71338606911949],"aabb_xy":[[-0.44343061136354217,-1.6839111479488522],[-0.3530879756672042,-1.5559111536597754]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[-0.6625489383735135,0.4452825519411374,0.71338606911949],"aabb_xy":[[-0.6814333221420236,0.42639662716078464],[-0.6436645546050032,0.4641684767214902]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[-0.019800169954565683,0.7082432624920276,0.71338606911949],"aabb_xy":[[-0.027927858147878903,0.69932965408132],[-0.011672481761252462,0.7171568709027353]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_29","position":[0.5275026023739791,-0.334927168075589,0.71338606911949],"aabb_xy":[[0.4635026037874066,-0.3819341314750977],[0.5915026009605515,-0.28792020467608026]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_30","position":[-0.1337951247892767,1.3684155601702899,0.71338606911949],"aabb_xy":[[-0.16723529998529627,1.3349719343393596],[-0.10035494959325707,1.4018591860012197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6732919869465543,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9195.png","name":"9195"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9195.png","name":"9195"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7176.png","name":"7176"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6748.png","name":"6748"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2681.png","name":"2681"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3121.png","name":"3121"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":684.7411138093511,"rotation_z_degrees":52.06904717013287,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002972433074525157,-0.01851287956425895,0.008261063696475755]},{"name":"camera_2","offset_m":[0.00608153220148526,-0.01888551374309522,-0.0027936138632297346]},{"name":"camera_3","offset_m":[0.01935125175860276,0.011877819038396988,-0.008901824595407093]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001582267359996582,-0.0009712047348829041,-0.0013569776658011491],"end_effector_yaw_offset_degrees":0.4912148423053082},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011355991638179255,-0.001344533588454282,-0.0015220358987195928],"end_effector_yaw_offset_degrees":-0.5419406632006822},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019789539837098244,-0.0013759435657686287,-0.0006571316593500165],"end_effector_yaw_offset_degrees":-0.5857091615733883}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004261408121863262,-0.0034981344479780452],"position_m":[0.21222614081218633,0.020301865552021958,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006448213622181872,-0.0036632029113362833],"position_m":[0.27395517863778185,-0.31126320291133625,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004141434618423034,0.0021788935636042374],"position_m":[0.15945856538157696,0.22777889356360423,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001995095526584694,0.0003544353420891844],"position_m":[0.3556950955265847,0.16855443534208917,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"249a34a66ec4434d0094a95253291619e77dd1686357e6b8fd003b280299c695","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9195/tex_ceiling_textures_3121/tex_floor_textures_2681/tex_table_textures_7176/tex_wall_textures_6748","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4782783006560785217,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4782783006560785217,"visual_seed":4782783006560785217,"scene_id":"lab_003","finished_at":"2026-09-04T17:35:37"} +{"episode_id":"ep_000086","started_at":"2026-09-04T17:35:41","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.5112064148530839,1.187197046728437,0.71338606911949],"aabb_xy":[[-0.5752021122481805,1.1231970484277283],[-0.44721071745798735,1.2511970450291456]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.5699709264915165,-1.3390193199025435,0.71338606911949],"aabb_xy":[[0.5665302502514593,-1.342880752876908],[0.5734116027315737,-1.335157886928179]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.23882457220900077,-1.4127554320060827,0.71338606911949],"aabb_xy":[[-0.2442825178460208,-1.4927554353137418],[-0.23336662657198068,-1.3327554286984236]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.37031833920945667,0.35042246236187813,0.71338606911949],"aabb_xy":[[0.36541904690289306,0.32274554305930936],[0.37521763151602006,0.3780993816644469]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[-0.22032607666266818,-1.6839833913871334,0.71338606911949],"aabb_xy":[[-0.2527877775445956,-1.7141162235020357],[-0.1878643757807407,-1.6538505592722306]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[-0.479162104896874,-2.00314309761026,0.71338606911949],"aabb_xy":[[-0.5591621070596364,-2.0830982812364036],[-0.3991621027341115,-1.9231879139841164]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.05617099283989346,1.351876377157546,0.71338606911949],"aabb_xy":[[0.04892722679364814,1.2718763789539436],[0.06341475888613879,1.4318763753611483]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.4407118174334417,1.7435357159640188,0.71338606911949],"aabb_xy":[[0.431080181213012,1.7338984031843099],[0.45034345365387124,1.7531730287437277]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[-0.08033029976794914,0.25027767730463557,0.71338606911949],"aabb_xy":[[-0.14192105899194196,0.18627767919558874],[-0.018739540543956337,0.3142776754136825]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.3776366489711285,-0.5744662850628668,0.71338606911949],"aabb_xy":[[0.3278198695062937,-0.6244662835471702],[0.42745342843596323,-0.5244662865785634]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[0.21369293382220944,1.2873678059402804,0.71338606911949],"aabb_xy":[[0.17937665664759148,1.2373678059671027],[0.24800921099682735,1.3373678059134582]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.31457471171322826,-1.6281354217744128,0.71338606911949],"aabb_xy":[[-0.3271774108503047,-1.6407308179992786],[-0.3019720125761518,-1.6155400255495476]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[0.38746140973952525,-2.4237959101353064,0.71338606911949],"aabb_xy":[[0.34996140939129744,-2.4355873057163895],[0.42496141008775296,-2.4120045145542224]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.44297643225547034,-1.4169711265432299,0.71338606911949],"aabb_xy":[[-0.4585322016657356,-1.432521559787637],[-0.4274206628452051,-1.4014206932988227]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.5747684892035375,-0.24631234345277964,0.71338606911949],"aabb_xy":[[-0.6225746568173061,-0.3113123461598386],[-0.5269623215897687,-0.18131234074572067]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[-0.5336823321111127,-2.4115149102530684,0.71338606911949],"aabb_xy":[[-0.5886755434482495,-2.4665149105918625],[-0.47868912077397596,-2.3565149099142753]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.5513768335633318,-0.5919069836206943,0.71338606911949],"aabb_xy":[[0.540965274882848,-0.5972527169565927],[0.5617883922438154,-0.5865612502847957]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.08687727762923148,-2.075936528473969,0.71338606911949],"aabb_xy":[[0.03687727898331028,-2.125856072133431],[0.13687727627515267,-2.026016984814506]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.6361702507372833,1.2961385678421582,0.71338606911949],"aabb_xy":[[0.5561702520803973,1.2816337089178953],[0.7161702493941693,1.310643426766421]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.2914255835879379,-1.2951468793007608,0.71338606911949],"aabb_xy":[[0.22142558095135156,-1.315251744296626],[0.36142558622452425,-1.275042014304895]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[-0.45634387317916725,0.9919329210512342,0.71338606911949],"aabb_xy":[[-0.46030435694890154,0.9842650564657136],[-0.45238338940943285,0.9996007856367548]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[0.4331940246163173,0.2490257989502198,0.71338606911949],"aabb_xy":[[0.4156940911823339,0.23152579902998527],[0.45069395805030066,0.26652579887045436]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[0.10452756812586461,-1.148066778936118,0.71338606911949],"aabb_xy":[[0.06702756802027166,-1.154888940789099],[0.14202756823145757,-1.1412446170831367]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.6386841392186411,1.393842143208058,0.71338606911949],"aabb_xy":[[-0.6732752220726862,1.3288421429230266],[-0.6040930563645958,1.4588421434930887]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_24","position":[-0.6612413059236959,-1.2992689399642119,0.71338606911949],"aabb_xy":[[-0.6787413061687453,-1.3167687278037785],[-0.6437413056786465,-1.2817691521246448]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_25","position":[0.2484939837571437,-0.9486796393891543,0.71338606911949],"aabb_xy":[[0.16849398516982428,-1.0279952413273152],[0.32849398234446314,-0.8693640374509934]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_26","position":[-0.5577506917323085,-2.221026222438365,0.71338606911949],"aabb_xy":[[-0.5683181713904075,-2.231571252551373],[-0.5471832120742095,-2.210481192325356]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[0.3373743475256852,-0.42265543769547875,0.71338606911949],"aabb_xy":[[0.32915980241000115,-0.43133202799312],[0.3455888926413691,-0.4139788473978374]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[0.4728936043716605,-2.1783416051911626,0.71338606911949],"aabb_xy":[[0.3891713788715781,-2.268341608725858],[0.556615829871743,-2.088341601656466]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[-0.31849716063569433,0.8589052584639432,0.71338606911949],"aabb_xy":[[-0.3292701345570621,0.8239052602449042],[-0.30772418671432655,0.8939052566829822]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_30","position":[-0.4197037982327342,-2.1695383457785358,0.71338606911949],"aabb_xy":[[-0.4496954609666045,-2.199538345115336],[-0.38971213549886385,-2.139538346441735]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_31","position":[0.03405890489160357,1.5693299386370563,0.71338606911949],"aabb_xy":[[-0.05594109184400664,1.5161464753197615],[0.12405890162721378,1.6225134019543506]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_32","position":[0.42758610422944554,0.7687779408623685,0.71338606911949],"aabb_xy":[[0.363586101886644,0.723837089618236],[0.4915861065722471,0.813718792106501]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718372258636702,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/201.png","name":"201"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/201.png","name":"201"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/526.png","name":"526"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6860.png","name":"6860"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6938.png","name":"6938"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4164.png","name":"4164"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":702.4756664626757,"rotation_z_degrees":12.909542459698438,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009424473045604814,0.006885597504452168,0.01247350865644303]},{"name":"camera_2","offset_m":[0.012490917848884144,-0.004493279182036156,0.006836058020765555]},{"name":"camera_3","offset_m":[-0.01989513033852544,0.012057585869018273,0.011402742235445778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007949180478903188,0.0015453691201808804,0.00021734469652132798],"end_effector_yaw_offset_degrees":0.14595686986306422},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001172411751767188,-0.001872996760006758,-0.0012642980586225732],"end_effector_yaw_offset_degrees":0.07608235644095163},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009136326158230351,-0.0013212135420752813,-0.001086289139005057],"end_effector_yaw_offset_degrees":0.13957485625496968}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002809818814422098,-0.004595001984977548],"position_m":[0.2146098188144221,0.019204998015022453,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00047254050247799283,-0.0001698079053385473],"position_m":[0.27412745949752204,-0.30776980790533853,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001998055169459623,-0.0042124680001799685],"position_m":[0.16160194483054038,0.22138753199982003,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-1.2931646349695e-05,-0.0032285187775194244],"position_m":[0.3536870683536503,0.16497148122248056,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7589f05d356a10bdd08857d0c4fac916c73332475e2571fdff605c8206670f8b","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_201/tex_ceiling_textures_4164/tex_floor_textures_6938/tex_table_textures_526/tex_wall_textures_6860","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":494083263590335656,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":494083263590335656,"visual_seed":494083263590335656,"scene_id":"lab_003","finished_at":"2026-09-04T17:38:19"} +{"episode_id":"ep_000087","started_at":"2026-09-04T17:38:22","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[-0.21223869501867154,-2.5315345671230918,0.71338606911949],"aabb_xy":[[-0.2762386966966689,-2.580051958602406],[-0.1482386933406742,-2.4830171756437776]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.15201433492061944,-1.0568377358851884,0.71338606911949],"aabb_xy":[[-0.17723517178045908,-1.0820614867380747],[-0.12679349806077975,-1.0316139850323012]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[-0.20213055844698663,1.334551514757142,0.71338606911949],"aabb_xy":[[-0.20583381977612547,1.330849496448424],[-0.19842729711784773,1.3382535330658596]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[0.3487812414128504,-2.264749532583244,0.71338606911949],"aabb_xy":[[0.3009750737990817,-2.3297495352903033],[0.396587409026619,-2.1997495298761853]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[-0.28266099691597835,0.8218404260705943,0.71338606911949],"aabb_xy":[[-0.31610117211199784,0.788396800239664],[-0.24922082171995866,0.8552840519015241]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[0.004824095584458399,-0.8590354386829107,0.71338606911949],"aabb_xy":[[-0.07517590239632664,-0.8666369796447626],[0.08482409356524344,-0.8514338977210587]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[-0.6263130823084788,1.5329167784783677,0.71338606911949],"aabb_xy":[[-0.6763130818848135,1.4829361995262618],[-0.5763130827321441,1.5828973574304737]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.08526161157102319,0.812603114191822,0.71338606911949],"aabb_xy":[[0.06279684159961807,0.7901031133129615],[0.1077263815424283,0.8351031150706825]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.5483681781330403,-0.532094703495178,0.71338606911949],"aabb_xy":[[-0.603368176334785,-0.5726166701216155],[-0.4933681799312954,-0.4915727368687404]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.35584533760855225,-2.090300759523217,0.71338606911949],"aabb_xy":[[-0.4358453350121457,-2.170293330721399],[-0.2758453402049588,-2.0103081883250336]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[-0.44169083899274514,-1.176124688765107,0.71338606911949],"aabb_xy":[[-0.4503888012834604,-1.1882496630725816],[-0.43299287670202985,-1.1639997144576322]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.15016650094532102,-0.9687877036422907,0.71338606911949],"aabb_xy":[[0.08516650306367325,-1.0199113673488318],[0.21516649882696887,-0.91766403993575]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[0.5400512668369273,1.173493798032112,0.71338606911949],"aabb_xy":[[0.5175512673132198,1.150997850581491],[0.5625512663606346,1.1959897454827326]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.4502986782041775,-2.257296796489309,0.71338606911949],"aabb_xy":[[-0.48026623511400324,-2.287296796787195],[-0.4203311212943519,-2.227296796191423]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.38916444948634427,0.3944936071339993,0.71338606911949],"aabb_xy":[[-0.45316445182914583,0.3495527558898668],[-0.3251644471435427,0.4394344583781318]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[0.34503689152858086,0.9409094488594243,0.71338606911949],"aabb_xy":[[0.333791835957963,0.929667651135329],[0.3562819470991987,0.9521512465835196]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.36824356425223204,-1.3363353390832373,0.71338606911949],"aabb_xy":[[-0.40324356344505025,-1.3473023850808998],[-0.3332435650594137,-1.3253682930855744]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.4656388864167487,-1.438529227056678,0.71338606911949],"aabb_xy":[[-0.49348392319735584,-1.46931372579499],[-0.4377938496361416,-1.4077447283183666]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.15835353815558784,-1.213513485292072,0.71338606911949],"aabb_xy":[[0.10837472964527192,-1.2635134852977905],[0.2083323466659037,-1.163513485286353]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.13440792147833136,-2.3066055583592298,0.71338606911949],"aabb_xy":[[0.12831329359021304,-2.3151749529108985],[0.14050254936644968,-2.298036163807561]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.033177993574971865,1.0646129984972146,0.71338606911949],"aabb_xy":[[-0.0681779949264536,1.0442532625403935],[0.0018220077765098636,1.0849727344540352]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.5231659902963112,-2.0490918398340945,0.71338606911949],"aabb_xy":[[-0.5324596085334616,-2.0865918383222284],[-0.5138723720591605,-2.0115918413459606]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[0.49855067196170877,1.35530856607431,0.71338606911949],"aabb_xy":[[0.4735506724099703,1.3451660822091753],[0.5235506715134473,1.3654510499394448]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[0.6027476213937453,-1.5651158741392515,0.71338606911949],"aabb_xy":[[0.5957073114602083,-1.6451158735389233],[0.6097879313272823,-1.4851158747395803]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[0.6114485796640621,-0.1963481929045514,0.71338606911949],"aabb_xy":[[0.5474485774436549,-0.2407212770298397],[0.675448581884469,-0.15197510877926312]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[-0.06895279894401252,-1.011931218890644,0.71338606911949],"aabb_xy":[[-0.07665598961808955,-1.019640589589382],[-0.06124960826993546,-1.0042218481919059]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[0.34308243869560107,1.3440296853545304,0.71338606911949],"aabb_xy":[[0.33345080247517145,1.3343923725748215],[0.3527140749160307,1.3536669981342393]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[0.24040999499148952,-2.0222192605015796,0.71338606911949],"aabb_xy":[[0.2321954498758055,-2.0308958507992205],[0.24862454010717347,-2.013542670203938]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6724194887353877,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/64.png","name":"64"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/64.png","name":"64"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9052.png","name":"9052"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9256.png","name":"9256"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7232.png","name":"7232"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3687.png","name":"3687"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":668.4344173951202,"rotation_z_degrees":356.559422068908,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0011192615436146185,-0.01435001935104388,-0.016326106874471794]},{"name":"camera_2","offset_m":[0.0012119620369725678,-0.014329818754729846,-0.010867805491189358]},{"name":"camera_3","offset_m":[-0.01988125307923824,-0.0055487995624308,-0.01041155704182446]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001953974939740917,0.0007224729510035212,9.680413060357031e-05],"end_effector_yaw_offset_degrees":0.1931674112775812},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013918114054944884,-0.0001231161918028537,0.0003725637063084911],"end_effector_yaw_offset_degrees":0.04464301340320942},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006240340321652937,-0.0013162865549185792,0.0018421517401580145],"end_effector_yaw_offset_degrees":-0.07897992155052735}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006347577007399588,-0.0016505805393062169],"position_m":[0.21243475770073994,0.022149419460693785,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[6.462090416387012e-05,-0.0003985331277615153],"position_m":[0.2746646209041639,-0.3079985331277615,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021936351212321114,0.0015023394051914508],"position_m":[0.1614063648787679,0.22710233940519145,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021544856724093307,0.0037935639456146983],"position_m":[0.3515455143275907,0.17199356394561469,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"92b0e18e18ec4b3f8ec3c32f440d6e6f8495137fad7f7b8bd8e55112df231464","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0087.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_64/tex_ceiling_textures_3687/tex_floor_textures_7232/tex_table_textures_9052/tex_wall_textures_9256","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4413327471473770002,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4413327471473770002,"visual_seed":4413327471473770002,"scene_id":"lab_003","finished_at":"2026-09-04T17:41:28"} +{"episode_id":"ep_000088","started_at":"2026-09-04T17:41:30","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[-0.6182035649401213,-0.9102432435914467,0.71338606911949],"aabb_xy":[[-0.6832035649744241,-0.956943920271774],[-0.5532035649058187,-0.8635425669111194]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.4412420927477816,1.7014200070753556,0.71338606911949],"aabb_xy":[[0.4187429570215546,1.6789200062970926],[0.46374122847400856,1.7239200078536185]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[0.3274361351492616,1.6092212564036994,0.71338606911949],"aabb_xy":[[0.3170245764687779,1.6038755230678008],[0.33784769382974533,1.6145669897395976]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.05021575545346657,0.7363687358409656,0.71338606911949],"aabb_xy":[[-0.1000984523311628,0.686368736594691],[-0.0003330585757703661,0.7863687350872406]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.4654783745864841,-0.6212144456858792,0.71338606911949],"aabb_xy":[[-0.52047837420823,-0.676198138473352],[-0.4104783749647383,-0.5662307528984065]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[-0.5646333792118017,-1.6397214194265284,0.71338606911949],"aabb_xy":[[-0.5932827115722178,-1.668366978703604],[-0.5359840468513853,-1.6110758601494524]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[0.48823654279113105,-1.428399534813935,0.71338606911949],"aabb_xy":[[0.4382365417719958,-1.4648657505517628],[0.5382365438102663,-1.391933319076107]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[0.09029949415891181,1.7905996643632647,0.71338606911949],"aabb_xy":[[0.07519719269789368,1.7754981427322023],[0.10540179561992988,1.8057011859943262]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[0.412507146400227,0.48003683033844435,0.71338606911949],"aabb_xy":[[0.39734427342329,0.4648713730433256],[0.42767001937716415,0.4952022876335631]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[-0.606698197203484,1.3474375810023305,0.71338606911949],"aabb_xy":[[-0.6269824999268826,1.3271549558596212],[-0.5864138944800851,1.3677202061450389]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.5246435227458999,1.3662250925953425,0.71338606911949],"aabb_xy":[[0.48714352280213347,1.357932002560506],[0.5621435226896663,1.374518182630179]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[0.47276747220236603,-0.19370877743235138,0.71338606911949],"aabb_xy":[[0.45585673976602425,-0.20718098302496588],[0.4896782046387078,-0.18023657183973682]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[-0.35240335916637805,-0.24598102254616716,0.71338606911949],"aabb_xy":[[-0.43240335632595334,-0.2575286235039842],[-0.27240336200680276,-0.2344334215883501]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[0.07419717053383801,-1.2272681589944197,0.71338606911949],"aabb_xy":[[0.056697170274501385,-1.2413597011831925],[0.09169717079317463,-1.2131766168056473]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.503063843673929,0.6629258466402135,0.71338606911949],"aabb_xy":[[0.453085035163613,0.6129258466344946],[0.5530426521842448,0.7129258466459322]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[-0.33461901574763314,-0.33546473123736353,0.71338606911949],"aabb_xy":[[-0.39961901430470603,-0.36521726465124615],[-0.26961901719056036,-0.3057121978234809]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.5202616540761886,-1.098545735752195,0.71338606911949],"aabb_xy":[[0.46526165489959914,-1.1535354105271525],[0.5752616532527781,-1.0435560609772372]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.11420439817762118,-2.5543342034833763,0.71338606911949],"aabb_xy":[[-0.1366691681490263,-2.5768342043622363],[-0.09173962820621606,-2.5318342026045153]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.21810390402304014,1.0419392703989314,0.71338606911949],"aabb_xy":[[-0.2821039047265095,0.9959208879260106],[-0.1541039033195708,1.0879576528718526]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.285522926882869,0.1006890004455383,0.71338606911949],"aabb_xy":[[-0.32052292677888783,0.09231476493359837],[-0.2505229269868501,0.10906323595747826]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.619387797799793,-1.2279552331040733,0.71338606911949],"aabb_xy":[[0.5393877967266726,-1.2377332794414577],[0.6993877988729132,-1.2181771867666888]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[0.664256393693949,1.550148474829982,0.71338606911949],"aabb_xy":[[0.6451440863359701,1.53101369595274],[0.6833687010519278,1.569283253707224]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676298690449317,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8164.png","name":"8164"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8164.png","name":"8164"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1542.png","name":"1542"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8392.png","name":"8392"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2325.png","name":"2325"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4439.png","name":"4439"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":726.8756890203775,"rotation_z_degrees":152.95321757620405,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012901266445991554,0.005510383990008045,0.0031060173272428535]},{"name":"camera_2","offset_m":[-0.015953881477205712,0.0015721962811668481,0.0071920077247992625]},{"name":"camera_3","offset_m":[0.015603681650908845,0.017032002098884214,0.006202510885749905]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004646116874980101,-0.001773880589440529,-0.0006012266651310618],"end_effector_yaw_offset_degrees":-0.40938584854537763},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015624479843816142,-0.0004182369580289099,-0.0017537112088681593],"end_effector_yaw_offset_degrees":-0.6621579377096802},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000842498314838279,0.0008989617250137589,0.00100523791074992],"end_effector_yaw_offset_degrees":-0.9416299400178818}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032655204390615146,0.0019012598457571125],"position_m":[0.20853447956093848,0.025701259845757114,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004898574096590095,0.0004299473050867987],"position_m":[0.2697014259034099,-0.3071700526949132,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016745276211698988,-0.0007539784080007909],"position_m":[0.1652745276211699,0.2248460215919992,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004561312815452803,0.0012200463530739527],"position_m":[0.3491386871845472,0.16942004635307395,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"65e942234bd39e68200964840fca473f1665df89da35597a22858ba6e1407dd5","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8164/tex_ceiling_textures_4439/tex_floor_textures_2325/tex_table_textures_1542/tex_wall_textures_8392","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3814655504504214220,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3814655504504214220,"visual_seed":3814655504504214220,"scene_id":"lab_003","finished_at":"2026-09-04T17:44:17"} +{"episode_id":"ep_000089","started_at":"2026-09-04T17:44:20","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.4680013020729332,0.35267531568636956,0.71338606911949],"aabb_xy":[[-0.4979688589827589,0.3226753153884839],[-0.43803374516310756,0.38267531598425536]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.34174237370662786,-2.4036530129132303,0.71338606911949],"aabb_xy":[[0.3167423745409948,-2.410605258618587],[0.366742372872261,-2.3967007672078737]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.38341565116564635,0.9214650930785209,0.71338606911949],"aabb_xy":[[-0.46713787666572876,0.8314650895438248],[-0.29969342566556384,1.0114650966132168]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.22997082537253133,-1.1999576793004478,0.71338606911949],"aabb_xy":[[0.199979162638661,-1.2299576786372481],[0.25996248810640166,-1.169957679963647]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[0.39845145459815146,0.9342947124872483,0.71338606911949],"aabb_xy":[[0.37717344645467915,0.869294710161175],[0.41972946274162365,0.9992947148133211]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[-0.2962563986260343,-0.9277262140302784,0.71338606911949],"aabb_xy":[[-0.3538868675133051,-0.9877262129569888],[-0.2386259297387634,-0.8677262151035676]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[0.3375387385450177,-2.3033782336769124,0.71338606911949],"aabb_xy":[[0.32003873828568113,-2.3174697758656855],[0.3550387388043544,-2.2892866914881402]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.5777770962468671,0.11208001766675979,0.71338606911949],"aabb_xy":[[0.5137770940264601,0.0677069335414715],[0.6417770984672742,0.15645310179204808]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[0.5367029537119723,-2.065327965634553,0.71338606911949],"aabb_xy":[[0.5117029541602339,-2.075470449499688],[0.5617029532637109,-2.0551854817694184]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[0.15068932156548853,-2.106028357949932,0.71338606911949],"aabb_xy":[[0.07068932416189512,-2.1860209291481145],[0.23068931896908196,-2.026035786751749]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[-0.08737299057289027,-2.2002277968532153,0.71338606911949],"aabb_xy":[[-0.15737299396445223,-2.2355435705566458],[-0.01737298718132829,-2.164912023149784]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.5620160557611076,0.9353520748017496,0.71338606911949],"aabb_xy":[[0.5449139778027394,0.9182452692704799],[0.5791181337194757,0.9524588803330194]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[-0.10721295763541072,1.776769976297389,0.71338606911949],"aabb_xy":[[-0.11806456388428631,1.7659106855697382],[-0.09636135138653511,1.7876292670250402]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.3009154233745365,1.1341674322653095,0.71338606911949],"aabb_xy":[[0.29679947326246375,1.1300518772324637],[0.3050313734866091,1.1382829872981548]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.6705592557568689,1.3947181949737648,0.71338606911949],"aabb_xy":[[0.6337087078198813,1.3572181941507313],[0.7074098036938565,1.4322181957967988]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.22927513254146303,-1.4895680235419797,0.71338606911949],"aabb_xy":[[0.1742751329197172,-1.5445517163294527],[0.2842751321632089,-1.4345843307545072]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.26587241287175256,-0.6729728664904513,0.71338606911949],"aabb_xy":[[-0.3458724161295955,-0.7529693742824354],[-0.1858724096139096,-0.5929763586984674]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[0.5468509823381673,-0.9723106611411727,0.71338606911949],"aabb_xy":[[0.5316881093612302,-0.9874761184362917],[0.5620138553151044,-0.9571452038460542]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.07608077276078173,1.360056617807265,0.71338606911949],"aabb_xy":[[0.016080772914214947,1.3032379956142264],[0.13608077260734852,1.4168752400003037]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[0.3618936342683079,1.5467161972293808,0.71338606911949],"aabb_xy":[[0.3274311562552201,1.540052520046458],[0.39635611228139567,1.5533798744123035]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.25158583088540165,-0.5851469825888014,0.71338606911949],"aabb_xy":[[0.18758583018193237,-0.6311653650617225],[0.31558583158887105,-0.5391286001158805]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[0.5834666669052535,-1.8232714253787026,0.71338606911949],"aabb_xy":[[0.5381880520241042,-1.8872714247268862],[0.6287452817864028,-1.759271426030519]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.5199936288100431,1.5801063269810478,0.71338606911949],"aabb_xy":[[-0.543578752273938,1.515106324735616],[-0.49640850534614833,1.6451063292264796]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[0.43963487216830055,1.3107833082140923,0.71338606911949],"aabb_xy":[[0.43555671426125087,1.306702327965829],[0.44371303007535035,1.3148642884623556]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[-0.4667228087776001,1.4207054553955643,0.71338606911949],"aabb_xy":[[-0.5467228057918481,1.4005709037221532],[-0.38672281176335205,1.4408400070689757]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[0.6380818997300963,-1.1547796107668495,0.71338606911949],"aabb_xy":[[0.5740818965114586,-1.201502722665858],[0.7020819029487343,-1.1080564988678412]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_26","position":[-0.37740789240399253,1.740916757037159,0.71338606911949],"aabb_xy":[[-0.40789214253102263,1.6909167572556631],[-0.3469236422769623,1.790916756818655]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_27","position":[-0.06239782964524099,0.46985813966697876,0.71338606911949],"aabb_xy":[[-0.09587699690628193,0.43637902629587183],[-0.028918662384200045,0.5033372530380857]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_28","position":[-0.5700369313820909,1.2102166681700854,0.71338606911949],"aabb_xy":[[-0.5780732660833757,1.2021785488656684],[-0.562000596680806,1.218254787474502]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_29","position":[0.45798287676933036,1.689320646729914,0.71338606911949],"aabb_xy":[[0.39398287747516214,1.6253345063610598],[0.5219828760634986,1.7533067870987682]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_30","position":[-0.05443457072863711,-0.8197341367159732,0.71338606911949],"aabb_xy":[[-0.14443457306265617,-0.8972164913010858],[0.03556543160538195,-0.7422517821308605]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_31","position":[0.49588775266104856,-0.14507344902629526,0.71338606911949],"aabb_xy":[[0.4865407450787534,-0.1593770712439393],[0.5052347602433438,-0.13076982680865123]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_32","position":[-0.21241247847102313,0.24635448528062076,0.71338606911949],"aabb_xy":[[-0.2764124805207551,0.20626000219131282],[-0.14841247642129113,0.2864489683699287]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6721567575912019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3438.png","name":"3438"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3438.png","name":"3438"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7640.png","name":"7640"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8021.png","name":"8021"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/33.png","name":"33"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2935.png","name":"2935"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":577.9850215039714,"rotation_z_degrees":23.958051587134925,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00512812447750911,-0.016149424962630964,-0.0063428035540054415]},{"name":"camera_2","offset_m":[0.004863055597310862,-0.010187337923112176,0.013699850703661583]},{"name":"camera_3","offset_m":[0.016340891327245626,0.004543154604537004,-0.008261410126884177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001961072076490926,0.0019952203885319417,-0.0019208232460163025],"end_effector_yaw_offset_degrees":-0.042217278040947326},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001838481998795578,-0.0005578327951521881,-0.0005797420204131209],"end_effector_yaw_offset_degrees":0.018784521822361677},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00099624103309382,-0.0006930483665608591,-0.0019420501709315789],"end_effector_yaw_offset_degrees":0.6086736329099223}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004998465349613488,-0.004467889234498788],"position_m":[0.2068015346503865,0.019332110765501214,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025031228367590605,0.004963510451492201],"position_m":[0.2771031228367591,-0.3026364895485078,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003071762999901812,-0.004992544962131335],"position_m":[0.1666717629999018,0.22060745503786866,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002242637236880398,0.002780867835068641],"position_m":[0.3514573627631196,0.17098086783506863,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e81460e4627307583896946680ec508c168d5ef6e5aa24b79577205ce30ac31","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0089.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3438/tex_ceiling_textures_2935/tex_floor_textures_33/tex_table_textures_7640/tex_wall_textures_8021","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5869607430893200735,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5869607430893200735,"visual_seed":5869607430893200735,"scene_id":"lab_003","finished_at":"2026-09-04T17:47:00"} +{"episode_id":"ep_000090","started_at":"2026-09-04T17:47:03","dimensions":{"distractor":{"count":27,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.17511245115855323,0.9236463957036309,0.71338606911949],"aabb_xy":[[0.15801037320018507,0.9065395901723612],[0.19221452911692138,0.9407532012349007]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[-0.1695879305114546,1.139661498656665,0.71338606911949],"aabb_xy":[[-0.21083674154136933,1.0846614991444476],[-0.12833911948153987,1.1946614981688826]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[0.06491530175260385,-2.3009690408465744,0.71338606911949],"aabb_xy":[[0.03143613449156293,-2.3344481542176814],[0.0983944690136448,-2.2674899274754674]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[-0.05953756700282742,0.9299082377516608,0.71338606911949],"aabb_xy":[[-0.09808325982802846,0.891362466695472],[-0.020991874177626386,0.9684540088078493]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[-0.5592451805400185,0.8346935507595923,0.71338606911949],"aabb_xy":[[-0.5967451813320139,0.8283257098014022],[-0.521745179748023,0.8410613917177824]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[0.3625739732855737,-1.4882430525995058,0.71338606911949],"aabb_xy":[[0.3375739741199406,-1.4951952983048626],[0.38757397245120684,-1.4812908068941495]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[-0.2394651045248477,-1.636033371410885,0.71338606911949],"aabb_xy":[[-0.2894651031707689,-1.6859529150703472],[-0.18946510587892648,-1.5861138277514224]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[-0.45076772195594783,-1.7556657655729393,0.71338606911949],"aabb_xy":[[-0.5147677240056798,-1.7957602486622473],[-0.38676771990621583,-1.7155712824836313]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.6444146394571368,-1.6098891126849502,0.71338606911949],"aabb_xy":[[-0.6794146377272567,-1.6169632403799383],[-0.6094146411870169,-1.602814984989962]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[-0.4492886336078127,-1.248582401143756,0.71338606911949],"aabb_xy":[[-0.5292886357705752,-1.3285375847698995],[-0.3692886314450502,-1.1686272175176122]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.4491756091878176,-0.6375651896542134,0.71338606911949],"aabb_xy":[[-0.4604206647584355,-0.6488069873783086],[-0.43793055361719985,-0.626323391930118]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[-0.1415175468171479,0.11437843382436386,0.71338606911949],"aabb_xy":[[-0.17397924769907533,0.08424560170946122],[-0.10905584593522043,0.14451126593926644]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.32879499739648244,1.4335073625060528,0.71338606911949],"aabb_xy":[[-0.3395679713178502,1.3985073642870138],[-0.31802202347511466,1.4685073607250918]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[0.17849101281172508,0.6204595129230102,0.71338606911949],"aabb_xy":[[0.17078782213764804,0.612750142224272],[0.18619420348580212,0.628168883621748]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.5532566858084156,-1.9386185012272743,0.71338606911949],"aabb_xy":[[0.5357567523744322,-1.9561185011475086],[0.570756619242399,-1.9211185013070395]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[0.4924330339029952,0.4419760454334716,0.71338606911949],"aabb_xy":[[0.44243303288386004,0.40550982969564364],[0.5424330349221306,0.4784422611712995]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[0.2848608267040422,1.0415391807578342,0.71338606911949],"aabb_xy":[[0.26236082646052683,1.0293345460980625],[0.3073608269475576,1.0537438154176064]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[-0.507313544597422,-1.41286908572439,0.71338606911949],"aabb_xy":[[-0.5443476540254817,-1.4472462930580992],[-0.4702794351693622,-1.3784918783906803]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[-0.3720889643859979,1.322713832120928,0.71338606911949],"aabb_xy":[[-0.3887661003790934,1.3060139081469977],[-0.3554118283929024,1.3394137560948582]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.45971425786076314,-1.6626284216615659,0.71338606911949],"aabb_xy":[[0.4222142576888912,-1.695329157044473],[0.4972142580326351,-1.6299276862786587]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[0.1585381995681362,-0.8612175707650414,0.71338606911949],"aabb_xy":[[0.1085381999918015,-0.9111981497171474],[0.20853819914447094,-0.8112369918129355]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.3824258981703335,-2.3997253424556004,0.71338606911949],"aabb_xy":[[-0.4464259000826759,-2.455636491713611],[-0.3184258962579912,-2.34381419319759]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[0.27670573628045403,1.4034144056644577,0.71338606911949],"aabb_xy":[[0.2295763572786183,1.3394144046200556],[0.32383511528228964,1.4674144067088595]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[0.2004424121687418,0.8481858104994009,0.71338606911949],"aabb_xy":[[0.19447587322800605,0.8422246658400369],[0.20640895110947763,0.8541469551587649]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_24","position":[0.2055235766602691,-0.5477384392176154,0.71338606911949],"aabb_xy":[[0.19682561436955381,-0.5598634135250902],[0.2142215389509844,-0.5356134649101407]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[-0.42347451267515196,-0.7350855043621025,0.71338606911949],"aabb_xy":[[-0.45691468787117145,-0.7685291301930324],[-0.39003433747913224,-0.7016418785311722]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[0.5264555747406894,1.483647174944743,0.71338606911949],"aabb_xy":[[0.5155497986531267,1.4036471785459137],[0.5373613508282521,1.563647171343572]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6717503606234515,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2273.png","name":"2273"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2273.png","name":"2273"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3508.png","name":"3508"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2096.png","name":"2096"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/990.png","name":"990"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6204.png","name":"6204"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":771.9655593976979,"rotation_z_degrees":269.4850640365875,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008090653563783272,0.01818804533246347,-0.0004109765420236902]},{"name":"camera_2","offset_m":[-0.0017060972230108044,0.011631815333409758,0.008604863959181076]},{"name":"camera_3","offset_m":[0.012675643515713587,-0.005113404483676334,-0.016960862196053254]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012413126877142814,-0.0015162115610648007,0.0006380329990411894],"end_effector_yaw_offset_degrees":0.0010707904792131018},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009752118799898229,-0.0006036253536756075,-0.001936465974126858],"end_effector_yaw_offset_degrees":-0.6691063036951945},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001533919658193798,0.00034703685289378923,-0.001988297842532247],"end_effector_yaw_offset_degrees":-0.6698546132088417}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010310387517709517,0.004834302379397478],"position_m":[0.21076896124822903,0.02863430237939748,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018098600705289758,-0.0025628453990933],"position_m":[0.27279013992947104,-0.3101628453990933,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015642653286183639,-0.0008743673368027541],"position_m":[0.16516426532861836,0.22472563266319723,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016901811463283086,-0.0018295418581933077],"position_m":[0.3553901811463283,0.16637045814180668,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"99d737ce72d76e96beb821960b386bb2ad495b09921bc0b464a2b8b7a35a25b9","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0090.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2273/tex_ceiling_textures_6204/tex_floor_textures_990/tex_table_textures_3508/tex_wall_textures_2096","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7067625726080042532,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7067625726080042532,"visual_seed":7067625726080042532,"scene_id":"lab_003","finished_at":"2026-09-04T17:49:44"} +{"episode_id":"ep_000091","started_at":"2026-09-04T17:49:48","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[-0.08912962087636178,1.3199586110092936,0.71338606911949],"aabb_xy":[[-0.15912962268510722,1.2986048422451062],[-0.019129619067616344,1.341312379773481]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[-0.33547083325729,-0.08466543493060996,0.71338606911949],"aabb_xy":[[-0.34476445149444057,-0.12216543341874385],[-0.3261772150201394,-0.04716543644247605]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[-0.5572542870449362,1.2168945370389994,0.71338606911949],"aabb_xy":[[-0.5618894021971693,1.2130272019618504],[-0.5526191718927026,1.220761872116148]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.12328773067018362,-0.7297659689528273,0.71338606911949],"aabb_xy":[[-0.14828772994214587,-0.7461113325489898],[-0.09828773139822132,-0.7134206053566651]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[-0.47260107783696204,-0.9962740241806045,0.71338606911949],"aabb_xy":[[-0.5226010764828832,-1.046193567840067],[-0.42260107919104084,-0.9463544805211421]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[0.3027114809262591,1.0896952702882348,0.71338606911949],"aabb_xy":[[0.2527114799071239,1.0532290545504068],[0.3527114819453944,1.1261614860260627]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.5506147137437833,-1.9485802788000872,0.71338606911949],"aabb_xy":[[-0.6156147147009106,-2.0005284907337924],[-0.4856147127866562,-1.8966320668663816]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[0.27171856328036714,-0.9142418966303323,0.71338606911949],"aabb_xy":[[0.2077185613680248,-0.9701530458883428],[0.3357185651927095,-0.858330747372322]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.10299049849490516,0.8030545229656982,0.71338606911949],"aabb_xy":[[-0.14826911337605442,0.7390545236175146],[-0.0577118836137559,0.8670545223138819]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[0.39665080675059117,-2.1468551510645195,0.71338606911949],"aabb_xy":[[0.38730379916829594,-2.1611587732821635],[0.4059978143328864,-2.1325515288468755]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[0.0821647696835689,-1.6758052092115487,0.71338606911949],"aabb_xy":[[0.03717218296511848,-1.7208052084859975],[0.1271573564020193,-1.6308052099371]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[0.3777811295820628,-0.550609477715887,0.71338606911949],"aabb_xy":[[0.36802514007288883,-0.5603720117751214],[0.3875371190912366,-0.5408469436566525]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.1088362107123304,-1.610990141937238,0.71338606911949],"aabb_xy":[[-0.1168301992900338,-1.6189902220323282],[-0.10084222213462701,-1.6029900618421475]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.207328360062298,-1.9831690369651154,0.71338606911949],"aabb_xy":[[-0.2713283632809359,-2.029892148864124],[-0.14332835684366016,-1.9364459250661072]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[0.04599206386007315,0.9351681525415527,0.71338606911949],"aabb_xy":[[-0.04400793586310103,0.9120948000063729],[0.1359920635832473,0.9582415050767326]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.4934528394044345,-1.6664318954149484,0.71338606911949],"aabb_xy":[[-0.5434528407653217,-1.716409799990364],[-0.44345283804354735,-1.6164539908395328]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.5472939849275422,0.32290358230055416,0.71338606911949],"aabb_xy":[[0.5227477693047914,0.2926546857515171],[0.5718402005502928,0.3531524788495912]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[0.4479456518426439,-0.20943267024397194,0.71338606911949],"aabb_xy":[[0.43027002125404545,-0.2271128865233747],[0.4656212824312421,-0.1917524539645692]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[0.10856269783109551,-1.5062020352258305,0.71338606911949],"aabb_xy":[[0.04456700043599893,-1.570202033526539],[0.1725583952261921,-1.4422020369251216]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.17625160653146055,1.3393554636680207,0.71338606911949],"aabb_xy":[[0.08625160979585031,1.2861720003507262],[0.26625160326707076,1.3925389269853152]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.40804457380605513,-2.3296148470132665,0.71338606911949],"aabb_xy":[[-0.46963533303004795,-2.393614845122314],[-0.3464538145820623,-2.26561484890422]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[0.35201079690268267,-1.6152751118467352,0.71338606911949],"aabb_xy":[[0.3342172899677663,-1.633074857442533],[0.36980430383759916,-1.5974753662509376]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697507623841743,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7022.png","name":"7022"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7022.png","name":"7022"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6921.png","name":"6921"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7738.png","name":"7738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/807.png","name":"807"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5261.png","name":"5261"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":748.9241145349229,"rotation_z_degrees":205.9882720831107,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01052790457000917,0.017952434412915785,-0.004722976013004589]},{"name":"camera_2","offset_m":[0.010819669764890252,-0.013178238924629318,0.015586419587825754]},{"name":"camera_3","offset_m":[0.007670987095651678,0.013674491269448998,0.015702029393575744]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010638190420405112,-0.0005310500258368452,-0.0002760708351185136],"end_effector_yaw_offset_degrees":-0.9258566927505911},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00041303650747054636,-0.001734063527000355,-0.0001933626328498503],"end_effector_yaw_offset_degrees":0.16581472186813118},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00035360064937178587,0.001702496009767008,0.0012458599992759846],"end_effector_yaw_offset_degrees":-0.760480385900268}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037708917425445026,-0.0034477034379307536],"position_m":[0.21557089174254448,0.020352296562069248,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004962054777004092,0.0043650816704811106],"position_m":[0.2741037945222996,-0.3032349183295189,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032112911168153133,-0.0027391131913436107],"position_m":[0.1668112911168153,0.22286088680865637,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036351164652979385,0.0033693462238728],"position_m":[0.35006488353470205,0.1715693462238728,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3ca6dc02b6073f231c73897c3d358eb41982e99598c3d2193a87e42c21231d85","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7022/tex_ceiling_textures_5261/tex_floor_textures_807/tex_table_textures_6921/tex_wall_textures_7738","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3540650209325024534,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3540650209325024534,"visual_seed":3540650209325024534,"scene_id":"lab_003","finished_at":"2026-09-04T17:52:40"} +{"episode_id":"ep_000092","started_at":"2026-09-04T17:52:44","dimensions":{"distractor":{"count":26,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.5816187248191588,-2.024264344050173,0.71338606911949],"aabb_xy":[[-0.6716187242375297,-2.0576398408943626],[-0.4916187254007879,-1.9908888472059831]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.045782060528760105,-2.251368131798291,0.71338606911949],"aabb_xy":[[-0.09106067540990936,-2.315368131146475],[-0.0005034456476108451,-2.1873681324501075]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[0.12617258381367236,-1.1394246459169244,0.71338606911949],"aabb_xy":[[0.0661725821707505,-1.1914247952088688],[0.1861725854565942,-1.0874244966249804]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.5560389693709087,-1.742651296509011,0.71338606911949],"aabb_xy":[[-0.5620055083116444,-1.748612441168375],[-0.550072430430173,-1.7366901518496467]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.49694548682080675,1.296316152747151,0.71338606911949],"aabb_xy":[[0.46194548684431086,1.2868515366995346],[0.5319454867973026,1.3057807687947678]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[0.5815807638024084,1.7042023538501163,0.71338606911949],"aabb_xy":[[0.5321003425884495,1.6402023559372647],[0.6310611850163671,1.7682023517629684]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.4482938945436702,-0.07833002255019172,0.71338606911949],"aabb_xy":[[-0.4598628752906069,-0.10333002266712345],[-0.4367249137967337,-0.05333002243326003]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.585932943195689,-0.20900771561383635,0.71338606911949],"aabb_xy":[[-0.6320180344504205,-0.27300771286639147],[-0.5398478519409575,-0.14500771836128123]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.5856665344929065,1.2727671406002434,0.71338606911949],"aabb_xy":[[-0.619106709688926,1.2393235147693131],[-0.5522263592968868,1.3062107664311733]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.251248240470322,1.5609175686523362,0.71338606911949],"aabb_xy":[[0.20143146100548726,1.5109175701680326],[0.3010650199351568,1.6109175671366394]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.3990634905558012,-1.5409481519826578,0.71338606911949],"aabb_xy":[[-0.4490634915749365,-1.5774143677204862],[-0.34906348953666594,-1.5044819362448303]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.3033404043149537,-2.424896472475789,0.71338606911949],"aabb_xy":[[0.24334040446838684,-2.4817150946688273],[0.3633404041615204,-2.36807785028275]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.023731963514813437,-1.9653055858778221,0.71338606911949],"aabb_xy":[[-0.1074541890148959,-2.055305589412518],[0.05999026198526902,-1.8753055823431262]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[-0.631507824874092,-1.8456313372939763,0.71338606911949],"aabb_xy":[[-0.6489385399530982,-1.8629034519578271],[-0.6140771097950852,-1.8283592226301255]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.13606353821922168,-1.5145995376519419,0.71338606911949],"aabb_xy":[[0.119053440929171,-1.5307340261502156],[0.1530736355092723,-1.4984650491536677]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.4233079292182585,-1.4084982670651536,0.71338606911949],"aabb_xy":[[-0.48730792949223667,-1.4585643672624415],[-0.3593079289442802,-1.3584321668678656]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.17722542904884597,-1.3889687860570967,0.71338606911949],"aabb_xy":[[-0.18602748435781866,-1.3967801122120258],[-0.16842337373987323,-1.3811574599021677]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[-0.6055363744869393,0.33774916618313,0.71338606911949],"aabb_xy":[[-0.6234054822413948,0.32391625820591907],[-0.5876672667324838,0.35158207416034093]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[0.1500370374672647,0.9776756541042979,0.71338606911949],"aabb_xy":[[0.10878822643734996,0.9226756545920802],[0.19128584849717942,1.032675653616515]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.41279391638846585,1.1312159207067167,0.71338606911949],"aabb_xy":[[-0.4743846756124587,1.0672159225976703],[-0.35120315716447303,1.195215918815764]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[-0.25567411384166655,-1.7955865369423043,0.71338606911949],"aabb_xy":[[-0.27330694943519407,-1.8132094829579273],[-0.23804127824813895,-1.7779635909266813]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[-0.24150826203880582,-2.441237095784685,0.71338606911949],"aabb_xy":[[-0.27800408266608456,-2.4777210382114423],[-0.20501244141152708,-2.404753153357927]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[-0.3958912871752575,-0.4864542093702813,0.71338606911949],"aabb_xy":[[-0.41880700006030747,-0.5093585065067048],[-0.3729755742902076,-0.46354991223385783]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[0.07107737521432855,1.0921553622185791,0.71338606911949],"aabb_xy":[[0.06173036763203332,1.077851740000935],[0.08042438279662378,1.1064589844362231]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[0.2753756340340673,-0.5618416129883759,0.71338606911949],"aabb_xy":[[0.26928100614594896,-0.5704110075400446],[0.2814702619221856,-0.5532722184367072]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[-0.11329805123807957,1.108205171413366,0.71338606911949],"aabb_xy":[[-0.13579805124822786,1.0941089517737628],[-0.09079805122793126,1.1223013910529693]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707826245853775,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2992.png","name":"2992"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2992.png","name":"2992"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4300.png","name":"4300"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4473.png","name":"4473"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9761.png","name":"9761"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4579.png","name":"4579"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":588.9642448830184,"rotation_z_degrees":64.10993896254408,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005372565379675138,0.006286222755977667,-0.009898711385611745]},{"name":"camera_2","offset_m":[0.0008923768643682023,0.011748976074048584,0.014096320641010528]},{"name":"camera_3","offset_m":[-0.00659081813793649,-0.006073407191797076,-0.018277534395802042]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007515853848771589,-0.0005158746170970164,0.0018752634044259548],"end_effector_yaw_offset_degrees":-0.8926257747718498},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013084776270416779,0.001347126505111827,-0.0013837711513615739],"end_effector_yaw_offset_degrees":0.6076185657974538},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016818767258364965,-0.0008841509254942888,0.0013998174865321564],"end_effector_yaw_offset_degrees":0.2844218034082966}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018704809715049961,-0.0022571073570878896],"position_m":[0.21367048097150498,0.021542892642912113,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025850177077493797,-0.0019560437492383885],"position_m":[0.27201498229225063,-0.3095560437492384,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004125948627599863,0.0022675223917646347],"position_m":[0.15947405137240014,0.22786752239176464,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002539660382245056,-0.003889409205559087],"position_m":[0.3562396603822451,0.1643105907944409,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"56dedb984eb5a0328fdde916142df0572db30525f77bc77148b4ae43f38aa5f8","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2992/tex_ceiling_textures_4579/tex_floor_textures_9761/tex_table_textures_4300/tex_wall_textures_4473","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6683469203291108149,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6683469203291108149,"visual_seed":6683469203291108149,"scene_id":"lab_003","finished_at":"2026-09-04T17:55:24"} +{"episode_id":"ep_000093","started_at":"2026-09-04T17:55:27","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.29933860299966586,-1.8931283823148792,0.71338606911949],"aabb_xy":[[0.23933860315309907,-1.9499470045079177],[0.35933860284623265,-1.8363097601218403]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[0.15649880320386766,1.7188647217411153,0.71338606911949],"aabb_xy":[[0.13862969544941217,1.7050318137639042],[0.17436791095832316,1.7326976297183263]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.5119013195255047,-2.4336641285006135,0.71338606911949],"aabb_xy":[[-0.5719013211684265,-2.4856642777925577],[-0.4519013178825828,-2.3816639792086693]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.6006872814157715,-1.0239476284673201,0.71338606911949],"aabb_xy":[[0.5807962415354314,-1.036603439752017],[0.6205783212961119,-1.0112918171826233]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.3116544382948113,1.7048446491368368,0.71338606911949],"aabb_xy":[[-0.33620065391756204,1.6745957525878],[-0.2871082226720606,1.735093545685874]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.6817651091091192,0.7925997914993963,0.71338606911949],"aabb_xy":[[-0.6890474254857827,0.7025997878898871],[-0.6744827927324554,0.8825997951089051]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[0.5187630414847153,-0.07124641231993811,0.71338606911949],"aabb_xy":[[0.4487630398824358,-0.0846792055215957],[0.5887630430869948,-0.05781361911828055]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[-0.17300802415372651,-1.0597473963576591,0.71338606911949],"aabb_xy":[[-0.18071121482780356,-1.0674567670563968],[-0.16530483347964947,-1.052038025658921]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[-0.44720054551962274,0.5128037180658618,0.71338606911949],"aabb_xy":[[-0.5372005449379935,0.47942822122167195],[-0.3572005461012518,0.5461792149100514]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[0.5084415209672468,1.0545051946178474,0.71338606911949],"aabb_xy":[[0.48392789687024096,1.0302406013158107],[0.5329551450642527,1.0787697879198836]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.04926534814695649,-1.1788190495744122,0.71338606911949],"aabb_xy":[[0.03950935863778259,-1.1885815836336466],[0.05902133765613037,-1.1690565155151778]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.47089727908132595,-2.081387005195987,0.71338606911949],"aabb_xy":[[0.4358972798885076,-2.092354051193649],[0.5058972782741442,-2.070419959198324]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.2324147252246232,-1.9784215102743214,0.71338606911949],"aabb_xy":[[-0.24705813077865615,-1.9930802299311055],[-0.21777131967059019,-1.963762790617537]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.43496289392664367,-1.408764890503685,0.71338606911949],"aabb_xy":[[-0.49896289121229237,-1.4502716094565289],[-0.3709628966409951,-1.367258171550841]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.06024968376743478,1.3684835697920636,0.71338606911949],"aabb_xy":[[-0.11024895893587094,1.3184835685161165],[-0.01025040859899861,1.4184835710680108]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.5356741751290299,-2.450318226681126,0.71338606911949],"aabb_xy":[[0.5131777536951657,-2.4728182264878735],[0.5581705965628939,-2.4278182268743786]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.6897830695263409,-1.056385961600979,0.71338606911949],"aabb_xy":[[0.6821588014361627,-1.0640191851375227],[0.6974073376165192,-1.0487527380644353]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[-0.4165874305874963,1.266821558314188,0.71338606911949],"aabb_xy":[[-0.454087431772289,1.2624033356181272],[-0.3790874294027034,1.2712397810102483]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.21609790899400916,-0.606343360407386,0.71338606911949],"aabb_xy":[[0.20905759906047225,-0.6863433598070575],[0.22313821892754623,-0.5263433610077147]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[-0.32925123216463165,-0.48603547861077967,0.71338606911949],"aabb_xy":[[-0.409251233237752,-0.4958135249481641],[-0.24925123109151132,-0.47625743227339523]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[0.49953867416884346,0.8879184399491411,0.71338606911949],"aabb_xy":[[0.4145386757514202,0.803044144486856],[0.5845386725862667,0.972792735411426]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[-0.4645240555272665,-0.6521187785132168,0.71338606911949],"aabb_xy":[[-0.5285240557877373,-0.6971275778661448],[-0.4005240552667957,-0.6071099791602887]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.24785229315824292,-1.4088250776145887,0.71338606911949],"aabb_xy":[[-0.31285229103989076,-1.4599487413211296],[-0.18285229527659513,-1.3577014139080479]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.20308476975919876,0.3407129301286491,0.71338606911949],"aabb_xy":[[-0.23767585261324392,0.27571292984361806],[-0.16849368690515348,0.4057129304136802]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[-0.6062674755568912,-0.009999721506098513,0.71338606911949],"aabb_xy":[[-0.6362591382907615,-0.039999720842899045],[-0.5762758128230209,0.020000277830702018]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_25","position":[-0.6061104527622527,-1.7734584141506804,0.71338606911949],"aabb_xy":[[-0.6193413982969339,-1.7866858331726796],[-0.5928795072275713,-1.7602309951286808]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6727559082946478,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4151.png","name":"4151"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4151.png","name":"4151"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3763.png","name":"3763"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5758.png","name":"5758"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3295.png","name":"3295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2102.png","name":"2102"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":724.6212767672433,"rotation_z_degrees":312.663775439953,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005681161288803827,0.01650295426594325,-0.00043527460299746384]},{"name":"camera_2","offset_m":[0.015166479491092451,-0.00012835737835432612,0.010848827997760067]},{"name":"camera_3","offset_m":[-0.010546715209711422,0.008779965531541298,0.0059338726076481225]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015261816502336063,0.0015675724104697911,0.00033512545429780676],"end_effector_yaw_offset_degrees":0.8613727545828616},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001043889605072745,0.0013713244149537113,-0.0005426453794641973],"end_effector_yaw_offset_degrees":0.6622776918562934},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018337815961196472,9.008853110193836e-05,-0.00023838448628466131],"end_effector_yaw_offset_degrees":0.9633629101264625}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018361356108442441,-0.0008322625488926981],"position_m":[0.21363613561084424,0.022967737451107303,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018691243315468666,-0.0048476633908182834],"position_m":[0.27273087566845317,-0.31244766339081825,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002290354396900264,-0.0027820047374982992],"position_m":[0.16589035439690025,0.2228179952625017,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00363995928569126,0.0002224268535322236],"position_m":[0.35006004071430874,0.1684224268535322,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b32610eb1fea2eaae59d8c857555edf50c15d2a979fb62f9a1c10ef59ff489ba","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4151/tex_ceiling_textures_2102/tex_floor_textures_3295/tex_table_textures_3763/tex_wall_textures_5758","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4824658670513123316,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4824658670513123316,"visual_seed":4824658670513123316,"scene_id":"lab_003","finished_at":"2026-09-04T17:58:09"} +{"episode_id":"ep_000094","started_at":"2026-09-04T17:58:13","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[0.6408881633924375,0.8923999133959901,0.71338606911949],"aabb_xy":[[0.6035568868671949,0.8577468586011379],[0.6782194399176801,0.9270529681908424]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[0.4416983327383308,-0.9603135503290963,0.71338606911949],"aabb_xy":[[0.42419833247899424,-0.974405092517869],[0.4591983329976675,-0.9462220081403238]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.014104909204316951,-1.3823823675725866,0.71338606911949],"aabb_xy":[[-0.008395090319390452,-1.404878315023207],[0.03660490872802435,-1.3598864201219654]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.44829994639937676,-2.529778347805169,0.71338606911949],"aabb_xy":[[-0.5122999471028462,-2.57579673027809],[-0.38429994569590753,-2.483759965332248]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.4362579927598585,-1.4646347882888195,0.71338606911949],"aabb_xy":[[-0.4700335519505515,-1.4786732835019845],[-0.4024824335691656,-1.4505962930756542]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.23190122161290244,-0.48055862142113925,0.71338606911949],"aabb_xy":[[-0.3119012187724777,-0.49210622237895624],[-0.1519012244533271,-0.46901102046332216]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[-0.0227374572005552,-1.0474711396560543,0.71338606911949],"aabb_xy":[[-0.06398626823046992,-1.1024711391682716],[0.018511353829359527,-0.9924711401438367]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.6143974985182106,-0.34756014102109045,0.71338606911949],"aabb_xy":[[0.5819357976362829,-0.377692973135993],[0.6468591994001378,-0.3174273089061877]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[0.0693977091146678,-1.6844407521203544,0.71338606911949],"aabb_xy":[[0.04581258565077295,-1.7494407543657862],[0.09298283257856266,-1.6194407498749226]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[-0.4985443699776848,0.5850029288147893,0.71338606911949],"aabb_xy":[[-0.5218262121758162,0.5000029275175611],[-0.47526252777955347,0.6700029301120173]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[-0.356944261114548,-2.354282104382414,0.71338606911949],"aabb_xy":[[-0.4169442617105642,-2.4090945769276373],[-0.29694426051853184,-2.2994696318371903]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[0.5540958328599497,0.34711553283185603,0.71338606911949],"aabb_xy":[[0.5040958314990625,0.2971376282564404],[0.6040958342208369,0.39709343740727165]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[0.09843395055942006,-1.8962189279810415,0.71338606911949],"aabb_xy":[[0.06093395198379926,-1.9089552236445992],[0.13593394913504087,-1.8834826323174834]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.03567378985309899,-1.1827916340987714,0.71338606911949],"aabb_xy":[[-0.05432620874137095,-1.1990422204121924],[0.12567378844756893,-1.1665410477853504]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[0.19842840023889452,0.6120663471690748,0.71338606911949],"aabb_xy":[[0.1865563172273934,0.5270663474754245],[0.21030048325039563,0.6970663468627252]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.35690624127245796,-1.760775360334382,0.71338606911949],"aabb_xy":[[-0.44062846677254036,-1.8507753638690778],[-0.27318401577237544,-1.670775356799686]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[0.5341499306212878,-1.4827361097127094,0.71338606911949],"aabb_xy":[[0.527109620687751,-1.5627361091123813],[0.541190240554825,-1.4027361103130382]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.6746708711507563,-0.11145630177437793,0.71338606911949],"aabb_xy":[[-0.6788067274834565,-0.14895630121873493],[-0.6705350148180561,-0.07395630233002094]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[-0.40822476839657024,1.5671818498585393,0.71338606911949],"aabb_xy":[[-0.45822476941570567,1.5307156341207118],[-0.3582247673774351,1.6036480655963676]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[0.19048240746211442,1.4918916508529017,0.71338606911949],"aabb_xy":[[0.12648240720164358,1.4468828514999734],[0.2544824077225852,1.5369004502058294]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.4922932806307547,0.13791564403283152,0.71338606911949],"aabb_xy":[[-0.5422932809913207,0.08793565682322856],[-0.4422932802701886,0.18789563124243444]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[0.0917218261970213,1.6709268103724368,0.71338606911949],"aabb_xy":[[0.06543300187658062,1.6446553767177854],[0.11801065051746194,1.6971982440270879]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[-0.1957613851707639,0.4596025067736189,0.71338606911949],"aabb_xy":[[-0.21355489210568038,0.44180276117782125],[-0.1779678782358475,0.4774022523694166]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[-0.3379719637443883,-1.179744887037803,0.71338606911949],"aabb_xy":[[-0.3979719653873101,-1.2317450363297473],[-0.2779719621014664,-1.127744737745859]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[-0.4779505456843168,-0.33698203408781113,0.71338606911949],"aabb_xy":[[-0.49922855382778897,-0.40198203641388425],[-0.45667253754084447,-0.27198203176173813]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_25","position":[-0.39142773212329657,-0.9032314827653727,0.71338606911949],"aabb_xy":[[-0.3968856777603167,-0.9832314860730318],[-0.38596978648627656,-0.8232314794577136]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[-0.6400873031877807,-0.7898614338477168,0.71338606911949],"aabb_xy":[[-0.6646009272847866,-0.8141260271497534],[-0.6155736790907749,-0.7655968405456804]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67645164860074,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1268.png","name":"1268"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1268.png","name":"1268"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4050.png","name":"4050"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7798.png","name":"7798"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3249.png","name":"3249"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3691.png","name":"3691"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":705.0062045215323,"rotation_z_degrees":88.55008400899325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01341667497246989,-0.007811901441414797,-0.017948565844825952]},{"name":"camera_2","offset_m":[-0.018100252945757102,0.0007312928502705776,0.00707666988025776]},{"name":"camera_3","offset_m":[-0.005021950283456627,0.009602178983156497,0.005312865884259069]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001404094112775674,-0.0014027432151371949,-0.001173384012324585],"end_effector_yaw_offset_degrees":0.270396084452347},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009426868575158527,-0.0005934648994643701,0.0009932942759857317],"end_effector_yaw_offset_degrees":-0.6987396192603992},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00039367346445994336,0.001165111918194833,-0.0014926438452286563],"end_effector_yaw_offset_degrees":0.907579664396416}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033644480861207615,0.003486960535117478],"position_m":[0.21516444808612076,0.02728696053511748,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004712774054493386,-0.00017213328409425212],"position_m":[0.2793127740544934,-0.30777213328409425,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004820970056343501,0.0043904011280446785],"position_m":[0.1587790299436565,0.22999040112804467,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017225536766385264,0.0015577199059995488],"position_m":[0.35542255367663855,0.16975771990599953,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c14f25a00002ab6202329cbb64f508c379ae540d963749411d82b3d1950ea307","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1268/tex_ceiling_textures_3691/tex_floor_textures_3249/tex_table_textures_4050/tex_wall_textures_7798","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5941009140406935719,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5941009140406935719,"visual_seed":5941009140406935719,"scene_id":"lab_003","finished_at":"2026-09-04T18:01:08"} +{"episode_id":"ep_000095","started_at":"2026-09-04T18:01:12","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.07640421635175487,-0.3742113254482202,0.71338606911949],"aabb_xy":[[-0.08031808954717738,-0.3829603408547769],[-0.07249034315633233,-0.3654623100416634]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.308522726968687,1.7711324094737821,0.71338606911949],"aabb_xy":[[0.2960553688589514,1.7586670848404586],[0.3209900850784227,1.7835977341071056]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.1785445886326139,-0.8118909621739727,0.71338606911949],"aabb_xy":[[0.11454459223704083,-0.8758542505927063],[0.242544585028187,-0.7479276737552392]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[-0.4973702811203107,-1.7231562141047436,0.71338606911949],"aabb_xy":[[-0.5323702824717924,-1.743515950061564],[-0.46237027976882894,-1.7027964781479223]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.5489762187646607,-2.3814568950719046,0.71338606911949],"aabb_xy":[[0.5346417936384972,-2.3935171106264432],[0.5633106438908241,-2.369396679517366]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.20650566517216307,-0.6037189550592683,0.71338606911949],"aabb_xy":[[0.1977244380249269,-0.6124987023477986],[0.21528689231939935,-0.5949392077707383]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[0.06179826507135233,1.7077903583063745,0.71338606911949],"aabb_xy":[[0.006802787250692936,1.6527903568724673],[0.11679374289201172,1.7627903597402812]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.026160725584559175,-1.1720343844813965,0.71338606911949],"aabb_xy":[[-0.05383927767328378,-1.2520308922733805],[0.10616072884240213,-1.0920378766894125]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[0.5810056103122552,-0.8936272791915507,0.71338606911949],"aabb_xy":[[0.5210056098044022,-0.9504740128774719],[0.6410056108201081,-0.8367805455056293]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[-0.3296178633698872,0.7199930606359937,0.71338606911949],"aabb_xy":[[-0.3640802107680289,0.6854991782381707],[-0.2951555159717453,0.7544869430338161]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[0.5685138298883503,-1.717244095271261,0.71338606911949],"aabb_xy":[[0.5381157187892066,-1.7476509972729304],[0.5989119409874938,-1.6868371932695914]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[-0.39359492242712696,-2.3420802289288174,0.71338606911949],"aabb_xy":[[-0.40823832798115994,-2.3567389485856016],[-0.378951516873094,-2.327421509272033]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.45579983783861655,-0.6989115046886205,0.71338606911949],"aabb_xy":[[0.44403165104395914,-0.7839115045938423],[0.4675680246332742,-0.6139115047833991]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[0.4427805378433314,-1.2896539570226901,0.71338606911949],"aabb_xy":[[0.4378812455367678,-1.317330876325259],[0.4476798301498948,-1.2619770377201214]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[-0.5293301626613753,-0.34753478760422274,0.71338606911949],"aabb_xy":[[-0.5373735225873304,-0.43253478869958917],[-0.52128680273542,-0.2625347865088563]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.4701418201508134,0.04575716510521488,0.71338606911949],"aabb_xy":[[0.4201418188669734,-0.0042216892854072255],[0.5201418214346533,0.09573601949583697]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[0.22741369714978366,0.9647284706220356,0.71338606911949],"aabb_xy":[[0.16341369688931282,0.9197196712691077],[0.2914136974102544,1.0097372699749636]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[-0.603706484513901,0.6779638548727265,0.71338606911949],"aabb_xy":[[-0.6380227616885188,0.6279638548995488],[-0.5693902073392829,0.7279638548459042]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.5354532916196695,1.6346334681328814,0.71338606911949],"aabb_xy":[[0.4704532934637504,1.608337223582969],[0.6004532897755885,1.6609297126827933]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.03997822554273378,0.303457316308803,0.71338606911949],"aabb_xy":[[-0.05765385613133211,0.2857771000294002],[-0.022302594954135443,0.3211375325882057]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.6203332780104058,0.8445749510747786,0.71338606911949],"aabb_xy":[[0.5725271103966372,0.7795749483677195],[0.6681394456241745,0.9095749537818374]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.14095227687856737,-1.5205881366228382,0.71338606911949],"aabb_xy":[[0.06095227947497391,-1.6005807078210208],[0.22095227428216074,-1.4405955654246552]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.06559229523722421,-1.7968926276842956,0.71338606911949],"aabb_xy":[[-0.1155922962563595,-1.833358843422124],[-0.015592294218088946,-1.760426411946468]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[0.4675133594838945,-1.4000054175762455,0.71338606911949],"aabb_xy":[[0.4614763464832298,-1.4060321186451938],[0.4735503724845593,-1.3939787165072972]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[-0.2596313286891104,-1.2276738483501577,0.71338606911949],"aabb_xy":[[-0.3096313282654451,-1.2776544273022639],[-0.20963132911277566,-1.177693269398052]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[-0.4528435745267375,-0.27391429309860627,0.71338606911949],"aabb_xy":[[-0.47784357445925546,-0.2807969613195296],[-0.4278435745942197,-0.26703162487768295]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_26","position":[-0.2808949015195925,-1.9573587939007684,0.71338606911949],"aabb_xy":[[-0.34589489940124035,-2.0084824576073097],[-0.21589490363794478,-1.906235130194228]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[0.029030901878991267,-2.2929361366868437,0.71338606911949],"aabb_xy":[[0.023698387224378278,-2.29826046493208],[0.03436341653360425,-2.2876118084416084]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_28","position":[0.2767884016636192,-2.2837331761039614,0.71338606911949],"aabb_xy":[[0.19178840297154448,-2.3157190394988403],[0.36178840035569376,-2.2517473127090826]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_29","position":[0.610956162522976,-0.01664356878298534,0.71338606911949],"aabb_xy":[[0.5609787456577223,-0.06664357027223387],[0.6609335793882295,0.0333564327062632]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[0.015914897274535544,0.7343735849629303,0.71338606911949],"aabb_xy":[[-0.0640851031956804,0.7260628773485819],[0.09591489774475151,0.7426842925772786]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[0.1940816376349821,1.0805542128299908,0.71338606911949],"aabb_xy":[[0.1616199367530546,1.050421380715088],[0.22654333851690953,1.1106870449448931]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6762159032041487,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/304.png","name":"304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/304.png","name":"304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7191.png","name":"7191"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/538.png","name":"538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1243.png","name":"1243"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9994.png","name":"9994"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":519.4229552861684,"rotation_z_degrees":59.328298658432246,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010988000305010286,-0.01744834587291604,0.0165673317064169]},{"name":"camera_2","offset_m":[-0.0008570218940485534,0.013056152060575931,0.0015978273199235768]},{"name":"camera_3","offset_m":[-0.0010997428362199309,-0.005911097212623614,-0.014496095259943331]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009170626037417872,-0.0018367421168343718,-0.0009485211545764481],"end_effector_yaw_offset_degrees":0.08097322863896306},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013176989118197748,0.0011648331308972575,0.001174220857168388],"end_effector_yaw_offset_degrees":0.0650100351709233},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003639284939492603,0.0016617651669825011,-0.0013690959076565847],"end_effector_yaw_offset_degrees":-0.13527860586194707}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004581533023300262,-0.004418047747891212],"position_m":[0.21638153302330024,0.01938195225210879,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035284290399517733,-0.0019645573199798894],"position_m":[0.2781284290399518,-0.3095645573199799,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004019289508168573,0.004650107029327658],"position_m":[0.16761928950816857,0.23025010702932766,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002846080093813131,-0.004127803131849709],"position_m":[0.35654608009381317,0.16407219686815028,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ed59ae4ccb1260378911c895fce71fc429d6009456ca5b59fa64410eac9e03c","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0095.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_304/tex_ceiling_textures_9994/tex_floor_textures_1243/tex_table_textures_7191/tex_wall_textures_538","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6166583755294798771,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6166583755294798771,"visual_seed":6166583755294798771,"scene_id":"lab_003","finished_at":"2026-09-04T18:03:54"} +{"episode_id":"ep_000096","started_at":"2026-09-04T18:03:59","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.5022859506732864,-0.7938355980830263,0.71338606911949],"aabb_xy":[[0.47231839376346085,-0.823835598380912],[0.5322535075831122,-0.7638355977851405]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[0.6098842776145061,-0.6203858076923157,0.71338606911949],"aabb_xy":[[0.587370585791049,-0.6903858082933232],[0.6323979694379633,-0.5503858070913081]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.02287732089456551,0.7806942341529641,0.71338606911949],"aabb_xy":[[0.015633554848320186,0.7006942359493616],[0.030121086940810837,0.8606942323565664]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[-0.5558792249313349,0.40786014076287636,0.71338606911949],"aabb_xy":[[-0.5749915322893138,0.38872536188563434],[-0.536766917573356,0.4269949196401184]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[-0.0881855563538746,-1.9014095223452898,0.71338606911949],"aabb_xy":[[-0.09753256393616982,-1.9157131445629336],[-0.07883854877157936,-1.8871059001276456]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.2723291562445124,0.9214808665606107,0.71338606911949],"aabb_xy":[[-0.2824821717986617,0.8854113249878702],[-0.26217614069036294,0.9575504081333509]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.29872038806931783,0.2247173594592886,0.71338606911949],"aabb_xy":[[-0.3162203883286545,0.21062581727051605],[-0.28122038780998126,0.2388089016480613]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.3293573558585843,-1.3934331265831361,0.71338606911949],"aabb_xy":[[-0.35800668821900045,-1.4220786858602117],[-0.300708023498168,-1.36478756730606]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.35417930414311094,-0.35612548383437437,0.71338606911949],"aabb_xy":[[-0.392724996968312,-0.39467125489056304],[-0.3156336113179099,-0.3175797127781857]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[0.12069143159477991,1.4726383988387197,0.71338606911949],"aabb_xy":[[0.07071401472952633,1.422638397349471],[0.1706688484600335,1.522638400327968]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[-0.17365420515972274,-0.39758086823432315,0.71338606911949],"aabb_xy":[[-0.23865420616022323,-0.4483672333889981],[-0.1086542041592222,-0.3467945030796482]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[0.4572649200811043,1.7233238270191422,0.71338606911949],"aabb_xy":[[0.4022649218793594,1.6828018603927049],[0.512264918282849,1.76384579364558]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.10058015766122719,-2.1911345178016477,0.71338606911949],"aabb_xy":[[0.03658016126565411,-2.2550978062203813],[0.16458015405680027,-2.127171229382914]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[-0.574157626345342,-1.5285170639701036,0.71338606911949],"aabb_xy":[[-0.5979938439859471,-1.6185170647785903],[-0.550321408704737,-1.438517063161617]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.18557117240392373,-2.026171639457107,0.71338606911949],"aabb_xy":[[0.12157117099593308,-2.0779605909810313],[0.2495711738119144,-1.974382687933182]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.01352057560814579,-1.379259904007904,0.71338606911949],"aabb_xy":[[-0.07752057882678365,-1.4259830159069125],[0.05047942761049207,-1.3325367921088958]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[0.28495295177333757,-0.5067069588705819,0.71338606911949],"aabb_xy":[[0.2349798862408221,-0.5567069586831149],[0.33492601730585303,-0.45670695905804914]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.4272713934228469,-1.928827866913874,0.71338606911949],"aabb_xy":[[0.4059933852793747,-1.9938278692399467],[0.4485494015663192,-1.8638278645878006]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.3205527624487221,-2.1130182180221455,0.71338606911949],"aabb_xy":[[0.31659227867898776,-2.120686082607666],[0.32451324621845645,-2.105350353436625]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.21285208576897513,1.5214955653833235,0.71338606911949],"aabb_xy":[[-0.2463312530300161,1.4880164520122166],[-0.17937291850793421,1.5549746787544305]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[0.6808049222497512,-0.01563222756390914,0.71338606911949],"aabb_xy":[[0.6638941898134094,-0.029104433156523665],[0.697715654686093,-0.002160021971294612]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.09249551972091707,-1.6087364435996903,0.71338606911949],"aabb_xy":[[-0.14749551934266292,-1.663720136387163],[-0.03749552009917123,-1.5537527508122175]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.4247824895932963,-2.4419409481901218,0.71338606911949],"aabb_xy":[[-0.4887824915056386,-2.497852097448132],[-0.36078248768095394,-2.3860297989321113]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.09020780709271115,0.7980941678992037,0.71338606911949],"aabb_xy":[[-0.1400245865575459,0.7480941694149004],[-0.040391027627876386,0.8480941663835071]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.3824105474692068,-2.5622273169430283,0.71338606911949],"aabb_xy":[[-0.45241054927795216,-2.5835810857072157],[-0.3124105456604613,-2.540873548178841]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[-0.47181423296762703,-2.274223509784269,0.71338606911949],"aabb_xy":[[-0.48931423321267636,-2.2917232976238355],[-0.4543142327225776,-2.256723721944702]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[-0.47236047315487806,1.1540936440180642,0.71338606911949],"aabb_xy":[[-0.5573604715723013,1.0692193485557793],[-0.3873604747374548,1.2389679394803492]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[-0.4830825664570666,0.6838447209260887,0.71338606911949],"aabb_xy":[[-0.5630825636166418,0.6722971199682717],[-0.4030825692974912,0.6953923218839058]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_28","position":[0.48173491594035034,0.1921636358783383,0.71338606911949],"aabb_xy":[[0.44423491442471863,0.1809368628621932],[0.519234917455982,0.20339040889448332]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_29","position":[-0.26009279749847686,0.36909695976706036,0.71338606911949],"aabb_xy":[[-0.2656744691326056,0.3565969599492848],[-0.2545111258643481,0.3815969595848358]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[0.5111265481956098,0.9040870629373168,0.71338606911949],"aabb_xy":[[0.49506462073709206,0.8190870611247251],[0.5271884756541273,0.9890870647499087]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[-0.21453004622261318,1.2156672962818327,0.71338606911949],"aabb_xy":[[-0.2469917471045406,1.1855344641669296],[-0.1820683453406857,1.2458001283967348]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_32","position":[-0.5704080879890996,-0.5325228578966872,0.71338606911949],"aabb_xy":[[-0.6604080916660175,-0.5939552644737914],[-0.4804080843121812,-0.4710904513195827]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_33","position":[0.3112404393994632,1.4563539988535594,0.71338606911949],"aabb_xy":[[0.30033466331190045,1.37635400245473],[0.3221462154870259,1.5363539952523884]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_34","position":[0.4794687214847819,-2.324624448884628,0.71338606911949],"aabb_xy":[[0.4544687223191487,-2.3315766945899847],[0.5044687206504149,-2.3176722031792716]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712541271459753,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/566.png","name":"566"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/566.png","name":"566"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1546.png","name":"1546"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3390.png","name":"3390"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8679.png","name":"8679"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1258.png","name":"1258"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":759.6556841964414,"rotation_z_degrees":262.6827255329148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013932495142426289,0.01782172018611333,0.0030345393575065237]},{"name":"camera_2","offset_m":[0.003038717282774061,0.003176086962819378,-0.015595866818095723]},{"name":"camera_3","offset_m":[-0.01830167527432247,-0.017194366773778752,-0.016964053146619213]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00026320383490755004,-0.0011375096504591857,4.712052338832172e-05],"end_effector_yaw_offset_degrees":0.9542337875552698},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006336895691673389,0.0009068848612106377,-0.0010797593892479132],"end_effector_yaw_offset_degrees":-0.192399169415854},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[4.022489678241498e-05,-0.0019532967782346844,0.0005789662417619206],"end_effector_yaw_offset_degrees":-0.22618554242594602}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003018255708328743,0.0033779836732817014],"position_m":[0.21481825570832874,0.027177983673281704,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-3.961923065835295e-05,0.0019500836763959384],"position_m":[0.27456038076934164,-0.30564991632360405,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031811063378968073,-0.001324591067936567],"position_m":[0.16041889366210318,0.22427540893206344,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002145579881350955,0.0007562874453266996],"position_m":[0.35155442011864907,0.16895628744532667,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10e1f0ce49ceb747928af1d5b7908465a3e26debe9b3ca0a392185dcd4d6a365","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0096.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_566/tex_ceiling_textures_1258/tex_floor_textures_8679/tex_table_textures_1546/tex_wall_textures_3390","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5122625597396072226,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5122625597396072226,"visual_seed":5122625597396072226,"scene_id":"lab_003","finished_at":"2026-09-04T18:06:41"} +{"episode_id":"ep_000097","started_at":"2026-09-04T18:06:44","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.6039369839500908,1.1799337451021938,0.71338606911949],"aabb_xy":[[-0.6148427600376535,1.0999337487033647],[-0.593031207862528,1.259933741501023]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[0.5389253029972731,0.24900858808625115,0.71338606911949],"aabb_xy":[[0.5312221123231962,0.24129921738751314],[0.5466284936713501,0.25671795878498915]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.618815905125135,-2.1321007470158126,0.71338606911949],"aabb_xy":[[-0.6228940630321846,-2.136181727264076],[-0.6147377472180853,-2.128019766767549]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[-0.3842307358269796,-1.0406073977159578,0.71338606911949],"aabb_xy":[[-0.4018090380159265,-1.0581818872900626],[-0.3666524336380328,-1.023032908141853]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.28407862941121675,-1.0872069210059963,0.71338606911949],"aabb_xy":[[0.2240786277682949,-1.1392070702979404],[0.3440786310541386,-1.035206771714052]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[0.616423684219946,-2.4988494277618343,0.71338606911949],"aabb_xy":[[0.6122878278872458,-2.5363494272061913],[0.6205595405526462,-2.4613494283174773]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.255155282641166,-0.652439354610493,0.71338606911949],"aabb_xy":[[-0.2621967335919136,-0.6594661063482876],[-0.2481138316904184,-0.6454126028726985]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.5052932773233891,-2.2668004538092927,0.71338606911949],"aabb_xy":[[0.47532572041356347,-2.2968004541071787],[0.5352608342332148,-2.2368004535114068]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[0.5182485061091762,-1.549345528199348,0.71338606911949],"aabb_xy":[[0.5102550163138942,-1.5573436601398238],[0.5262419959044583,-1.5413473962588726]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[-0.6027938698112167,-0.08325439431400516,0.71338606911949],"aabb_xy":[[-0.6727938716199622,-0.10460816307819255],[-0.5327938680024713,-0.0619006255498178]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.6256851103426069,-0.4004928499927445,0.71338606911949],"aabb_xy":[[-0.6469631184860791,-0.46549285231881754],[-0.6044071021991346,-0.3354928476666714]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.3723414769510581,0.4088837824339189,0.71338606911949],"aabb_xy":[[-0.37960272452146554,0.3960967721704094],[-0.3650802293806507,0.42167079269742835]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.02778664677712328,-2.53142497462996,0.71338606911949],"aabb_xy":[[0.02016237868694504,-2.539058198166504],[0.03541091486730153,-2.5237917510934165]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.2423032744395034,1.4257181148635811,0.71338606911949],"aabb_xy":[[0.2362662614388387,1.4196914137946328],[0.24834028744016814,1.431744815932529]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[0.212905567734188,-1.8929730333214232,0.71338606911949],"aabb_xy":[[0.12290556801101378,-1.916046385856603],[0.3029055674573621,-1.8698996807862434]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.22577226571063896,0.4346918892563556,0.71338606911949],"aabb_xy":[[-0.2757510742209548,0.3846918892506368],[-0.17579345720032305,0.4846918892620744]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[-0.2289848625651345,-0.3692974508895066,0.71338606911949],"aabb_xy":[[-0.3189848619835054,-0.40267294773369633],[-0.13898486314676362,-0.3359219540453169]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.6111641403909425,-0.978219009977096,0.71338606911949],"aabb_xy":[[-0.6606445616049014,-1.0422190078899478],[-0.5616837191769838,-0.9142190120642442]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[0.01982088085380218,-1.2769137137116497,0.71338606911949],"aabb_xy":[[-0.00267825487242479,-1.2994137144899127],[0.04232001658002915,-1.2544137129333868]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.23825417229518187,-2.1281577259798823,0.71338606911949],"aabb_xy":[[0.17425417500953322,-2.1696644449327267],[0.3022541695808305,-2.0866510070270388]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[-0.6726745930455291,-1.4741652133605505,0.71338606911949],"aabb_xy":[[-0.6925656329258695,-1.4868210246452471],[-0.652783553165189,-1.4615094020758534]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[0.5990906209577183,-0.3563521283519795,0.71338606911949],"aabb_xy":[[0.5944555058054848,-0.36021946342912814],[0.6037257361099515,-0.35248479327483084]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6675733187311269,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3958.png","name":"3958"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3958.png","name":"3958"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9353.png","name":"9353"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9882.png","name":"9882"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9808.png","name":"9808"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9316.png","name":"9316"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":741.5623320570587,"rotation_z_degrees":327.9908777408145,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011200872104231811,-0.01643180889352225,-0.01589898451238502]},{"name":"camera_2","offset_m":[-0.00205131769238626,-0.010887952539717763,-0.015530874201001646]},{"name":"camera_3","offset_m":[0.012983137197204588,0.008274574553068945,-0.004629710780399119]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006022049398017038,-0.0011555079195364878,0.0016861323896403377],"end_effector_yaw_offset_degrees":-0.8582447317518529},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008109623957830614,0.00045934352716640175,-0.0017619079607949857],"end_effector_yaw_offset_degrees":-0.5042663653367119},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014595419108155102,0.0008356371255464844,-5.9792024024428415e-05],"end_effector_yaw_offset_degrees":-0.5106164629370475}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020252171785590444,0.0003688839606047012],"position_m":[0.20977478282144094,0.024168883960604702,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028326362537093386,0.004574428769607164],"position_m":[0.2717673637462907,-0.3030255712303928,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007946285352349322,-0.0034544032195929298],"position_m":[0.16280537146476506,0.22214559678040707,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021319727483676302,0.0006565582966044647],"position_m":[0.35583197274836764,0.16885655829660445,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cebc3822e20b970db0470fa4eefd7ab6257d78a28003d0edf696cf8044c5c941","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3958/tex_ceiling_textures_9316/tex_floor_textures_9808/tex_table_textures_9353/tex_wall_textures_9882","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7858187941310257115,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7858187941310257115,"visual_seed":7858187941310257115,"scene_id":"lab_003","finished_at":"2026-09-04T18:09:26"} +{"episode_id":"ep_000098","started_at":"2026-09-04T18:09:30","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.014509935503283944,0.9393570783033991,0.71338606911949],"aabb_xy":[[-0.0021672004898115604,0.9226571543294688],[0.031187071496379448,0.9560570022773294]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[-0.48839803351197586,-1.9812615654851535,0.71338606911949],"aabb_xy":[[-0.5243115379369654,-2.017175073701908],[-0.4524845290869861,-1.945348057268399]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[0.5886988603455872,0.9184082109331468,0.71338606911949],"aabb_xy":[[0.5833612846795827,0.8934082100040069],[0.5940364360115918,0.9434082118622865]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[-0.24757004069588906,0.13929246638356174,0.71338606911949],"aabb_xy":[[-0.27085188289402035,0.05429246508633367],[-0.2242881984977577,0.22429246768078978]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.2597183324597667,-2.432214568027094,0.71338606911949],"aabb_xy":[[0.19971833220836555,-2.4864958930635583],[0.3197183327111679,-2.3779332429906286]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[0.38112611840966415,-2.1860772875139056,0.71338606911949],"aabb_xy":[[0.369254035398163,-2.2710772872075564],[0.3929982014211652,-2.1010772878202557]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.3551562764137448,-0.27057434074806785,0.71338606911949],"aabb_xy":[[-0.4051405121219221,-0.3205743395615635],[-0.30517204070556764,-0.22057434193457232]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.4537370836799528,0.495802602652911,0.71338606911949],"aabb_xy":[[-0.4800259080003934,0.4695311689982597],[-0.4274482593595121,0.5220740363075621]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[-0.590621377096521,0.9186780383961266,0.71338606911949],"aabb_xy":[[-0.6606213804880828,0.8833622646926959],[-0.5206213737049589,0.9539938120995576]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[-0.3131640521085098,-1.9407675592580182,0.71338606911949],"aabb_xy":[[-0.3266105787425531,-1.9542374109111096],[-0.29971752547446645,-1.927297707604927]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.26288762967365364,-0.5789691540847417,0.71338606911949],"aabb_xy":[[0.21771631182548468,-0.6429691512292802],[0.3080589475218226,-0.5149691569402034]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.6382801980853865,-1.8098986186267783,0.71338606911949],"aabb_xy":[[-0.6495252536560043,-1.8211404163508735],[-0.6270351425147687,-1.798656820902683]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.4130741819301095,1.350540108205089,0.71338606911949],"aabb_xy":[[-0.4171901320421821,1.3464245531722432],[-0.40895823181803675,1.3546556632379343]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[-0.08130499883068643,1.7048059269035378,0.71338606911949],"aabb_xy":[[-0.10319474641962723,1.614805929614289],[-0.05941525124174563,1.7948059241927872]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.14683791058670448,-0.8849254745943962,0.71338606911949],"aabb_xy":[[-0.1968379101630392,-0.9349060535465022],[-0.09683791101036976,-0.8349448956422904]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.2620782950133918,-2.327519915807151,0.71338606911949],"aabb_xy":[[-0.2740110293752199,-2.3399020686150105],[-0.2501455606515638,-2.3151377629992917]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[-0.3662534262984783,-1.042965894936812,0.71338606911949],"aabb_xy":[[-0.41624825922641995,-1.0929658938320554],[-0.31625859337053674,-0.9929658960415684]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.6746214156419469,-2.069899009689308,0.71338606911949],"aabb_xy":[[-0.6855271917295096,-2.149899006088137],[-0.6637156395543842,-1.9898990132904788]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[-0.00039358458700511356,1.1838128956083955,0.71338606911949],"aabb_xy":[[-0.022893584400907496,1.1793382792379148],[0.02210641522689727,1.1882875119788763]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[-0.29137734569027895,1.794982208888284,0.71338606911949],"aabb_xy":[[-0.29940361632090495,1.7862307139109317],[-0.28335107505965296,1.803733703865637]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.16241951891272732,-1.6092745483086195,0.71338606911949],"aabb_xy":[[0.13991951840068673,-1.6317664066740178],[0.18491951942476792,-1.5867826899432211]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[-0.6127859287851428,0.6248175475761553,0.71338606911949],"aabb_xy":[[-0.6927859273724621,0.5455019456379944],[-0.5327859301978233,0.7041331495143162]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.41844305460212183,1.6759650518692273,0.71338606911949],"aabb_xy":[[0.41040671990083694,1.6679269325648103],[0.4264793893034066,1.6840031711736438]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.09729775459147538,-1.019680777868011,0.71338606911949],"aabb_xy":[[-0.11920643673082641,-1.0415814446881018],[-0.07538907245212433,-0.9977801110479203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.672947718601003,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/479.png","name":"479"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/479.png","name":"479"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/119.png","name":"119"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3792.png","name":"3792"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8049.png","name":"8049"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2977.png","name":"2977"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":733.8676249844559,"rotation_z_degrees":51.60508228836091,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019472050158453987,0.014845378700201448,-0.014289419000019303]},{"name":"camera_2","offset_m":[-0.015699096275458888,0.012947385854186842,0.008203446833517682]},{"name":"camera_3","offset_m":[0.00921783848569048,-0.0014275643758456837,0.008054946954448004]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019529792395934524,9.143620445828783e-05,-0.0012052231830963424],"end_effector_yaw_offset_degrees":0.41947995595711385},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017875050145817104,0.001908251872059767,-0.0014048214021089014],"end_effector_yaw_offset_degrees":-0.2134877053605031},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00014750825793869815,-0.001302990286181239,-0.0015353749939860054],"end_effector_yaw_offset_degrees":0.3997886233657568}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011624455948279024,-0.002609692010208192],"position_m":[0.2106375544051721,0.02119030798979181,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031762032447203168,0.004541609121516782],"position_m":[0.27777620324472035,-0.3030583908784832,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004390974721659203,0.002271134852254513],"position_m":[0.1679909747216592,0.22787113485225452,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002470167348981507,0.002383649734760568],"position_m":[0.3512298326510185,0.17058364973476056,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"81791db9996c007bfba25619406174637a44516cf0173cab7f69ec49f47eac09","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_479/tex_ceiling_textures_2977/tex_floor_textures_8049/tex_table_textures_119/tex_wall_textures_3792","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7542338491459480313,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7542338491459480313,"visual_seed":7542338491459480313,"scene_id":"lab_003","finished_at":"2026-09-04T18:12:07"} +{"episode_id":"ep_000099","started_at":"2026-09-04T18:12:10","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.47433810833054135,-2.1387304178750695,0.71338606911949],"aabb_xy":[[-0.48030464727127714,-2.1446915625344336],[-0.46837156938980556,-2.1327692732157053]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.5388795279133323,-0.02997748296323577,0.71338606911949],"aabb_xy":[[0.47487952753579854,-0.07972274981404803],[0.6028795282908658,0.0197677838875765]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.5379633849170182,-0.005329020989523148,0.71338606911949],"aabb_xy":[[-0.5467446120642546,-0.0141087682780533],[-0.5291821577697821,0.003450726299007001]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[0.062370145841747715,0.8228121464795715,0.71338606911949],"aabb_xy":[[0.007377895206236775,0.7678121447362588],[0.11736239647725868,0.8778121482228843]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.47373284592928466,0.3525373001397467,0.71338606911949],"aabb_xy":[[-0.5081953239423724,0.34587362295682383],[-0.4392703679161969,0.3592009773226695]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.13294234380757863,0.44680211027859995,0.71338606911949],"aabb_xy":[[-0.2129423470654216,0.36680560248661603],[-0.05294234054973568,0.5267986180705839]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[-0.1469870430355571,1.4147158753247475,0.71338606911949],"aabb_xy":[[-0.22698704330916408,1.3417663274990308],[-0.06698704276195012,1.4876654231504642]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[-0.16945296699340062,-1.217861552393655,0.71338606911949],"aabb_xy":[[-0.20695296556902143,-1.2305978480572126],[-0.13195296841777981,-1.2051252567300967]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.45609508750868355,-2.144637563217412,0.71338606911949],"aabb_xy":[[0.39209509111311047,-2.2086008516361457],[0.5200950839042566,-2.0806742747986786]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[0.2170161868980207,-1.7220900582982344,0.71338606911949],"aabb_xy":[[0.17173757201687145,-1.786090057646418],[0.26229480177917,-1.6580900589500507]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.42037307386207134,-1.1800019998083555,0.71338606911949],"aabb_xy":[[-0.4843730770807092,-1.2267251117073639],[-0.3563730706434335,-1.1332788879093472]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.6545828490213326,-2.4006783912088,0.71338606911949],"aabb_xy":[[-0.672376355956249,-2.4184781368045973],[-0.6367893420864161,-2.382878645613002]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.2297961653297796,-2.376226359495207,0.71338606911949],"aabb_xy":[[-0.26094308417336265,-2.4462263581820136],[-0.19864924648619645,-2.3062263608083993]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.5180960992544685,1.6663445905904557,0.71338606911949],"aabb_xy":[[-0.5215367754945257,1.6624831576160917],[-0.5146554230144114,1.6702060235648206]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[0.07630579261620563,1.65993664162488,0.71338606911949],"aabb_xy":[[0.056247381002965335,1.6398715547157223],[0.09636420422944592,1.6800017285340372]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[0.2729618365738564,-0.7201081105271585,0.71338606911949],"aabb_xy":[[0.18296183423983736,-0.7975904651122712],[0.3629618389078755,-0.6426257559420459]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[0.6098620668092976,0.4741528770966883,0.71338606911949],"aabb_xy":[[0.6017343786159844,0.4652392686859807],[0.6179897550026109,0.483066485507396]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[0.4391458863017321,1.1318291869433637,0.71338606911949],"aabb_xy":[[0.4215991913856132,1.0943291853791124],[0.45669258121785106,1.169329188507615]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[-0.3312175485462055,-2.4802033354359327,0.71338606911949],"aabb_xy":[[-0.35373124036966264,-2.5502033360369403],[-0.30870385672274825,-2.410203334834925]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.15545549808326098,-1.2117400502186773,0.71338606911949],"aabb_xy":[[0.06545549440634278,-1.2731724567957812],[0.2454555017601791,-1.1503076436415725]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.49837345893408613,0.45298866208404887,0.71338606911949],"aabb_xy":[[-0.5483467529373465,0.4029886615295014],[-0.44840016493082563,0.5029886626385961]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[-0.3816357972861095,-1.5916513294160424,0.71338606911949],"aabb_xy":[[-0.4516357999226958,-1.6117561944119077],[-0.3116357946495231,-1.5715464644201766]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[0.18737604481709047,1.2883761289692335,0.71338606911949],"aabb_xy":[[0.15389687755604953,1.2548970155981265],[0.2208552120781314,1.3218552423403405]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[0.4149655385827249,-0.2553474760227705,0.71338606911949],"aabb_xy":[[0.3825038377007973,-0.2854803081376731],[0.44742723946465224,-0.22521464390786788]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6701143077383995,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6332.png","name":"6332"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6332.png","name":"6332"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7432.png","name":"7432"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2854.png","name":"2854"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7859.png","name":"7859"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5486.png","name":"5486"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":516.7031303355111,"rotation_z_degrees":356.1582381763425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017578361654549547,0.009503258113554378,-0.009717161248447499]},{"name":"camera_2","offset_m":[0.011884064888064347,0.011609588553160858,0.014741957667362238]},{"name":"camera_3","offset_m":[-0.0017367468316302724,0.014795267091938551,-0.010913489345018049]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011850403018696522,0.0005095927614430719,-0.0017506786633802998],"end_effector_yaw_offset_degrees":0.06801934546888355},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007403087645210685,0.0017496103686764205,-0.0018162030440040415],"end_effector_yaw_offset_degrees":-0.8368824670526438},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001060234754150632,-0.0017006726472277053,0.0002750337962972838],"end_effector_yaw_offset_degrees":-0.29801724273320884}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020103058838570453,-0.0027474185764156077],"position_m":[0.20978969411614296,0.021052581423584394,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003478751262947363,-0.0022252445861972617],"position_m":[0.2711212487370526,-0.30982524458619726,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003931246340531435,-0.0011791754120788],"position_m":[0.15966875365946856,0.2244208245879212,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003915157230712106,0.0020124309781637383],"position_m":[0.3497848427692879,0.17021243097816371,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0298d817cdb717b26bbd28b2b7d27bdd3d41b481915b3b236fa38d5a5e7d0dfd","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6332/tex_ceiling_textures_5486/tex_floor_textures_7859/tex_table_textures_7432/tex_wall_textures_2854","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2134120184888996028,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2134120184888996028,"visual_seed":2134120184888996028,"scene_id":"lab_003","finished_at":"2026-09-04T18:14:53"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..acfc19b231f176d7ff315e811acf74a42f8d3fa6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_htd_00041 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Press the heater button to start heating. + layout_id: layout_00041 + reproducibility: + enabled: true + layout_id: layout_00041 + action_seed: 2848321962719448975 + step_seeds: + - 5782229107148351242 + - 3907262889746092396 + - 8862035115530452832 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1636 + - 0.1636 + 'y': + - 0.2256 + - 0.2256 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2118 + - 0.2118 + 'y': + - 0.0238 + - 0.0238 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3537 + - 0.3537 + 'y': + - 0.1682 + - 0.1682 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2746 + - 0.2746 + 'y': + - -0.3076 + - -0.3076 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..31500a9e0594885635fa1617da1417d2d6ea57ea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24510346946519343, + 0.016006185647531986, + 1.1581493142828085 + ], + "current_z": 1.1581493142828085, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30156286647888775, + "gripper_z": 1.1514477827551062, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23996512015435467, + 0.011209684366108932, + 1.1514477827551062 + ], + "object_minus_gripper": [ + 0.005138349310838758, + 0.004796501281423053, + 0.006701531527702365 + ], + "object_to_gripper_xy": 0.007029157715038846, + "object_to_gripper_z": 0.006701531527702365, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24510346946519343, + -0.008214321711476985, + 1.1581493142828085 + ], + "finger_b": [ + 0.23430252536352036, + 0.016006185647531986, + 1.1581493142828085 + ], + "finger_midpoint": [ + 0.2397029974143569, + 0.0038959319680275002, + 1.1581493142828085 + ], + "object_minus_finger_midpoint": [ + 0.005400472050836519, + 0.012110253679504485, + 0.0 + ], + "finger_gap": 0.026519678923683707, + "fingertip_max_gap": 0.0901860639501601, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013259839461841848, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1581493142828085, + "object_top_z": 1.2034476359343445, + "finger_top_clearance": 0.04529832165153591, + "fingertip_min_top_clearance": 0.013589496495460773, + "object_projection_between_fingers": 0.8341227168802158, + "object_to_finger_line_xy": 0.009864536703164527, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04759303197508005, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.023598996148238512, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3391504131505302, + -0.30555075490927275, + 0.8470196181466942 + ], + "target_position": [ + 0.3303133012938813, + -0.3071765578061955, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008985420470215433, + "xy_threshold": 0.08, + "gripper_dist": 0.18609311480113966, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196181466942, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535389022720457, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511946499755195, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15485549328627626, + "release_required_pad_clearance": 0.05255973249877598, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1855739588495594, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007479190826416016, + "max_z_decrease": 0.007479190826416016, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499400916466608, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007479190826416016, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021296277536579245, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007479190826416016, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007479202033154367, + "max_button_displacement": 0.12, + "button_start": [ + 0.1860132217407226, + -0.36343801021575933, + 0.7768088579177856 + ], + "button_final": [ + 0.1860132217407226, + -0.36343801021575933, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18577603336086723, + -0.3636038772111108, + 0.8049223065216543 + ], + "closest_button": [ + 0.18600112199783322, + -0.36343914270401007, + 0.7699294090270996 + ], + "closest_ee_minus_button": [ + -0.00022508863696599213, + -0.00016473450710075, + 0.0349928974945547 + ], + "button_min_z_position": [ + 0.18600034713745112, + -0.3634393811225891, + 0.7693296670913696 + ], + "min_active_finger_to_button": 0.1462718705081366, + "closest_active_finger": [ + 0.05879902094602585, + -0.4264553189277649, + 0.8082842230796814 + ], + "closest_active_finger_button": [ + 0.1860224157571792, + -0.36344316601753235, + 0.7730828523635864 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12722339481115336, + -0.06301215291023254, + 0.03520137071609497 + ], + "min_contact_pad_to_button": 0.021296277536579245, + "closest_contact_pad": [ + 0.18600034713745112, + -0.36484397278015346, + 0.7905795743662382 + ], + "closest_contact_pad_button": [ + 0.18600034713745112, + -0.3634393811225891, + 0.7693296670913696 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001404591657564347, + 0.02124990727486853 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1fed16485549cbf0754d1593b4031b05c211f30169ed423a04d9507b57318099", + "visual_seed": 2120804094132606963, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0e3a8f2294a3ba02abbc45848a5f7b5754634745 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23623188658581667, + 0.019853147524424825, + 1.1588270966542522 + ], + "current_z": 1.1588270966542522, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30224052964104187, + "gripper_z": 1.1526068357312627, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23121405897692002, + 0.01486269013382846, + 1.1526068357312627 + ], + "object_minus_gripper": [ + 0.005017827608896658, + 0.0049904573905963645, + 0.006220260922989551 + ], + "object_to_gripper_xy": 0.007076952654918883, + "object_to_gripper_z": 0.006220260922989551, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23623188658581667, + -0.004069146126365907, + 1.1588270966542522 + ], + "finger_b": [ + 0.22485747739932171, + 0.019853147524424825, + 1.1588270966542522 + ], + "finger_midpoint": [ + 0.2305446819925692, + 0.007892000699029459, + 1.1588270966542522 + ], + "object_minus_finger_midpoint": [ + 0.00568720459324748, + 0.011961146825395366, + 0.0 + ], + "finger_gap": 0.02648873945389783, + "fingertip_max_gap": 0.09079899715750334, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013244369726948915, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1588270966542522, + "object_top_z": 1.204255850584961, + "finger_top_clearance": 0.045428753930708776, + "fingertip_min_top_clearance": 0.013628626179212632, + "object_projection_between_fingers": 0.8156109562239914, + "object_to_finger_line_xy": 0.010272363361690448, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04789949857875167, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.31834334685673193, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33565800573731863, + -0.30404342826848463, + 0.8470195619518632 + ], + "target_position": [ + 0.3280552277749169, + -0.30519630508886764, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007689691652371873, + "xy_threshold": 0.08, + "gripper_dist": 0.1843973014937864, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195619518632, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545675480650631, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498279361819909, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1528587932194447, + "release_required_pad_clearance": 0.05249139680909955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595268216273544, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007312297821044922, + "max_z_decrease": 0.007312297821044922, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035017418630898765, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007312297821044922, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021258389815480346, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007312297821044922, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007312325349151481, + "max_button_displacement": 0.12, + "button_start": [ + 0.1837551593780517, + -0.3614577651023864, + 0.7768088579177856 + ], + "button_final": [ + 0.1837551593780517, + -0.3614577651023864, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1825498568557991, + -0.36172491988612016, + 0.8077834763866548 + ], + "closest_button": [ + 0.18374723196029658, + -0.36146351695060724, + 0.7727875113487244 + ], + "closest_ee_minus_button": [ + -0.0011973751044974668, + -0.00026140293551291105, + 0.034995965037930454 + ], + "button_min_z_position": [ + 0.18373593688011164, + -0.36146351695060724, + 0.7694965600967407 + ], + "min_active_finger_to_button": 0.14744030110929748, + "closest_active_finger": [ + 0.041239701211452484, + -0.3469330072402954, + 0.8080287575721741 + ], + "closest_active_finger_button": [ + 0.18376348912715906, + -0.36146393418312067, + 0.7731795907020569 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14252378791570658, + 0.014530926942825262, + 0.03484916687011719 + ], + "min_contact_pad_to_button": 0.021258389815480346, + "closest_contact_pad": [ + 0.18373593688011164, + -0.3629629572597787, + 0.7907020031787928 + ], + "closest_contact_pad_button": [ + 0.18373593688011164, + -0.36146351695060724, + 0.7694965600967407 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014994403091714292, + 0.021205443082052078 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "20a00e4332440750d51d4eeca41b3f7d98a6244e25f6959c4fda2e1a472886d5", + "visual_seed": 7023824696227147930, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f276ae07f263ae49da3dd45822d0dd6af9b55f26 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2370665453690213, + 0.02670861831977716, + 1.157786840598521 + ], + "current_z": 1.157786840598521, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3012003927946002, + "gripper_z": 1.1511701024835326, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23217797508553062, + 0.02190888157647257, + 1.1511701024835326 + ], + "object_minus_gripper": [ + 0.004888570283490684, + 0.00479973674330459, + 0.006616738114988419 + ], + "object_to_gripper_xy": 0.006850955569966597, + "object_to_gripper_z": 0.006616738114988419, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2370665453690213, + 0.0027184139377448933, + 1.157786840598521 + ], + "finger_b": [ + 0.2261745901816559, + 0.02670861831977716, + 1.157786840598521 + ], + "finger_midpoint": [ + 0.2316205677753386, + 0.014713516128761026, + 1.157786840598521 + ], + "object_minus_finger_midpoint": [ + 0.005445977593682705, + 0.011995102191016134, + 0.0 + ], + "finger_gap": 0.026347003512643644, + "fingertip_max_gap": 0.09069244459191947, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013173501756321822, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157786840598521, + "object_top_z": 1.2032458047972523, + "finger_top_clearance": 0.0454589641987313, + "fingertip_min_top_clearance": 0.01363768925961939, + "object_projection_between_fingers": 0.8290971783742449, + "object_to_finger_line_xy": 0.009917645129528205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04784622229595974, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3253828870629565, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3305646810949009, + -0.3109782587810963, + 0.8470197487632838 + ], + "target_position": [ + 0.3229106960479658, + -0.31204829221772973, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007728418897434299, + "xy_threshold": 0.08, + "gripper_dist": 0.18855900553311525, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197487632838, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752049235555048, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851451847821386, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15749253526121826, + "release_required_pad_clearance": 0.0525725923910693, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.20935389622030073, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007403850555419922, + "max_z_decrease": 0.007403850555419922, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509686191964401, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007403850555419922, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021205685207604262, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007403850555419922, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007403876531998507, + "max_button_displacement": 0.12, + "button_start": [ + 0.17861062288284296, + -0.36830973625183105, + 0.7768088579177856 + ], + "button_final": [ + 0.17861062288284296, + -0.36830973625183105, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1774801481704345, + -0.36914461037524454, + 0.8074929146351741 + ], + "closest_button": [ + 0.17859902977943415, + -0.3683132827281952, + 0.7724237442016602 + ], + "closest_ee_minus_button": [ + -0.0011188816089996445, + -0.0008313276470493514, + 0.035069170433513985 + ], + "button_min_z_position": [ + 0.17859151959419248, + -0.3683141767978668, + 0.7694050073623657 + ], + "min_active_finger_to_button": 0.1471796880496918, + "closest_active_finger": [ + 0.03613805025815964, + -0.35517552495002747, + 0.8092505931854248 + ], + "closest_active_finger_button": [ + 0.1786143779754638, + -0.3683163821697235, + 0.7747589349746704 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14247632771730417, + 0.013140857219696045, + 0.034491658210754395 + ], + "min_contact_pad_to_button": 0.021205685207604262, + "closest_contact_pad": [ + 0.17859151959419248, + -0.37024514414235904, + 0.7905225936410698 + ], + "closest_contact_pad_button": [ + 0.17859151959419248, + -0.3683141767978668, + 0.7694050073623657 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019309673444922182, + 0.02111758627870408 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d9d113e2176a0af5afd8cf1b9b02fb88f97258cc1606283bfdb8cf1fdc069646", + "visual_seed": 4512865934533301275, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fa269fa3df910d99fb7bd011513ed1882a66f7bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24049400828725784, + 0.02546364295479573, + 1.1603680877139424 + ], + "current_z": 1.1603680877139424, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.3037816399100215, + "gripper_z": 1.1537360409015402, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23559374421330517, + 0.02069000248364769, + 1.1537360409015402 + ], + "object_minus_gripper": [ + 0.004900264073952665, + 0.00477364047114804, + 0.006632046812402148 + ], + "object_to_gripper_xy": 0.006841069458955496, + "object_to_gripper_z": 0.006632046812402148, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24049400828725784, + 0.0014053074447742096, + 1.1603680877139424 + ], + "finger_b": [ + 0.2297169951807983, + 0.02546364295479573, + 1.1603680877139424 + ], + "finger_midpoint": [ + 0.23510550173402806, + 0.01343447519978497, + 1.1603680877139424 + ], + "object_minus_finger_midpoint": [ + 0.005388506553229783, + 0.01202916775501076, + 0.0 + ], + "finger_gap": 0.02636185727541903, + "fingertip_max_gap": 0.09064911621788399, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318092863770952, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1603680877139424, + "object_top_z": 1.205802275177415, + "finger_top_clearance": 0.0454341874634725, + "fingertip_min_top_clearance": 0.013630256239041749, + "object_projection_between_fingers": 0.8328736943153222, + "object_to_finger_line_xy": 0.00983530843074794, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047824558108942, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3489649588555774, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3309068017352122, + -0.310325423913449, + 0.8470196080996891 + ], + "target_position": [ + 0.3228375456446513, + -0.31191197981734753, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008223749357273106, + "xy_threshold": 0.08, + "gripper_dist": 0.1862302487761283, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196080996891, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576168033014688, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08683839006530707, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1539076140718589, + "release_required_pad_clearance": 0.053419195032653535, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8528135763889915, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074100494384765625, + "max_z_decrease": 0.0074100494384765625, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507375413806892, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074100494384765625, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021167535084767004, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074100494384765625, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007410074401834938, + "max_button_displacement": 0.12, + "button_start": [ + 0.17853747308254245, + -0.3681734502315521, + 0.7768088579177856 + ], + "button_final": [ + 0.17853747308254245, + -0.3681734502315521, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17839822437353506, + -0.36774305661441187, + 0.8078158865503957 + ], + "closest_button": [ + 0.1785268783569336, + -0.3681786060333252, + 0.7727450728416443 + ], + "closest_ee_minus_button": [ + -0.00012865398339853562, + 0.000435549418913328, + 0.035070813708751425 + ], + "button_min_z_position": [ + 0.17851878702640533, + -0.36817800998687744, + 0.7693988084793091 + ], + "min_active_finger_to_button": 0.14613153592015043, + "closest_active_finger": [ + 0.051896072924137115, + -0.43239811062812805, + 0.8110051155090332 + ], + "closest_active_finger_button": [ + 0.1785409301519394, + -0.368175208568573, + 0.7764953374862671 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12664485722780228, + -0.06422290205955505, + 0.03450977802276611 + ], + "min_contact_pad_to_button": 0.021167535084767004, + "closest_contact_pad": [ + 0.17851878702640533, + -0.3688912179629557, + 0.790554324921781 + ], + "closest_contact_pad_button": [ + 0.17851878702640533, + -0.36817800998687744, + 0.7693988084793091 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007132079760782672, + 0.021155516442471933 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6dcabbdf72bf6977b1411237e04c978c57f2a5f5e31155be2e24a883bd4fe559", + "visual_seed": 4907655351542809439, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6230b569a880aec93febf40700617ddd802a8ca9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23607708028280788, + 0.022319800909369854, + 1.1574925670699778 + ], + "current_z": 1.1574925670699778, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30090611926605704, + "gripper_z": 1.1512223949068152, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23101782747608549, + 0.017296039983135697, + 1.1512223949068152 + ], + "object_minus_gripper": [ + 0.005059252806722397, + 0.0050237609262341575, + 0.006270172163162613 + ], + "object_to_gripper_xy": 0.00712981155475273, + "object_to_gripper_z": 0.006270172163162613, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23607708028280788, + -0.0015765673366760974, + 1.1574925670699778 + ], + "finger_b": [ + 0.22458335325668188, + 0.022319800909369854, + 1.1574925670699778 + ], + "finger_midpoint": [ + 0.23033021676974488, + 0.010371616786346878, + 1.1574925670699778 + ], + "object_minus_finger_midpoint": [ + 0.005746863513063, + 0.011948184123022976, + 0.0 + ], + "finger_gap": 0.02651682817196907, + "fingertip_max_gap": 0.09067642654034197, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013258414085984535, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1574925670699778, + "object_top_z": 1.2029004068093179, + "finger_top_clearance": 0.04540783973934004, + "fingertip_min_top_clearance": 0.013622351921802044, + "object_projection_between_fingers": 0.8121208407011984, + "object_to_finger_line_xy": 0.010357887894985077, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783821327017099, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.27357958571418883, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33454916503028637, + -0.30329125903666676, + 0.8470191235732587 + ], + "target_position": [ + 0.3271535195402298, + -0.3045816838608709, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007507380930891694, + "xy_threshold": 0.08, + "gripper_dist": 0.18429957122275845, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191235732587, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581859726725321, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08499785287140203, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15192940552698708, + "release_required_pad_clearance": 0.05249892643570102, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06851490666711389, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007265746593475342, + "max_z_decrease": 0.007265746593475342, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504284571021691, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007265746593475342, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021201359389311746, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007265746593475342, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0072657669760707285, + "max_button_displacement": 0.12, + "button_start": [ + 0.1828534454107284, + -0.360843151807785, + 0.7768088579177856 + ], + "button_final": [ + 0.1828534454107284, + -0.360843151807785, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1823059930450439, + -0.36007914608975206, + 0.8077180794499711 + ], + "closest_button": [ + 0.18284340202808375, + -0.36084806919097895, + 0.7726877927780151 + ], + "closest_ee_minus_button": [ + -0.0005374089830398332, + 0.0007689231012268927, + 0.03503028667195596 + ], + "button_min_z_position": [ + 0.1828369796276092, + -0.3608481585979461, + 0.7695431113243103 + ], + "min_active_finger_to_button": 0.14637582600063415, + "closest_active_finger": [ + 0.05589330941438675, + -0.4248928427696228, + 0.8112629055976868 + ], + "closest_active_finger_button": [ + 0.18285712599754328, + -0.3608447909355163, + 0.7765653729438782 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12696381658315653, + -0.0640480518341065, + 0.034697532653808594 + ], + "min_contact_pad_to_button": 0.021201359389311746, + "closest_contact_pad": [ + 0.1828369796276092, + -0.36123709622037625, + 0.7907409028951465 + ], + "closest_contact_pad_button": [ + 0.1828369796276092, + -0.3608481585979461, + 0.7695431113243103 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00038893762243014107, + 0.021197791570836233 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "68fb6ed14ab069f405b95ebe00fd64fbfaddbb94dc9fa527b0e7b84af0911775", + "visual_seed": 4212818257283835806, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..549eb3d96e135eb5f363394ebaa1e2a22f0f4041 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24430941636141792, + 0.017498098516800644, + 1.1568499057581298 + ], + "current_z": 1.1568499057581298, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30026345795420906, + "gripper_z": 1.1501471529629548, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23923557177439278, + 0.012761944474750944, + 1.1501471529629548 + ], + "object_minus_gripper": [ + 0.005073844587025145, + 0.0047361540420497, + 0.006702752795175071 + ], + "object_to_gripper_xy": 0.006940825167320386, + "object_to_gripper_z": 0.006702752795175071, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24430941636141792, + -0.006692882538069058, + 1.1568499057581298 + ], + "finger_b": [ + 0.2336206270177384, + 0.017498098516800644, + 1.1568499057581298 + ], + "finger_midpoint": [ + 0.23896502168957817, + 0.005402607989365793, + 1.1568499057581298 + ], + "object_minus_finger_midpoint": [ + 0.005344394671839753, + 0.012095490527434851, + 0.0 + ], + "finger_gap": 0.026447188546811967, + "fingertip_max_gap": 0.09045613612545389, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013223594273405977, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1568499057581298, + "object_top_z": 1.2021343402525182, + "finger_top_clearance": 0.04528443449438835, + "fingertip_min_top_clearance": 0.013585330348316537, + "object_projection_between_fingers": 0.836657945716054, + "object_to_finger_line_xy": 0.009776929598954065, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772806806272695, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3150880049430001, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33516384002345045, + -0.3042981824417267, + 0.8470194539652859 + ], + "target_position": [ + 0.3271559305771745, + -0.30572160292421563, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008133433442877891, + "xy_threshold": 0.08, + "gripper_dist": 0.18616286996229725, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194539652859, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578370955566828, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08769202416711795, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15387881436359457, + "release_required_pad_clearance": 0.05384601208355898, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7012033738886423, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007576167583465576, + "max_z_decrease": 0.007576167583465576, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035027299641663304, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007576167583465576, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021269026421467004, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007576167583465576, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007576191477387175, + "max_button_displacement": 0.12, + "button_start": [ + 0.18285585939884189, + -0.36198306083679194, + 0.7768088579177856 + ], + "button_final": [ + 0.18285585939884189, + -0.36198306083679194, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1813096390791636, + -0.3619045389312718, + 0.8074148124866536 + ], + "closest_button": [ + 0.18284553289413452, + -0.36198738217353815, + 0.7724213004112244 + ], + "closest_ee_minus_button": [ + -0.0015358938149709345, + 8.284324226637274e-05, + 0.03499351207542922 + ], + "button_min_z_position": [ + 0.18283718824386597, + -0.3619867265224456, + 0.7692326903343201 + ], + "min_active_finger_to_button": 0.14760956424310748, + "closest_active_finger": [ + 0.054147869348526, + -0.42528289556503296, + 0.807668149471283 + ], + "closest_active_finger_button": [ + 0.18286599218845367, + -0.36199051141738886, + 0.772821307182312 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12871812283992767, + -0.0632923841476441, + 0.03484684228897095 + ], + "min_contact_pad_to_button": 0.021269026421467004, + "closest_contact_pad": [ + 0.18283718824386597, + -0.3632571869351189, + 0.7904637387129775 + ], + "closest_contact_pad_button": [ + 0.18283718824386597, + -0.3619867265224456, + 0.7692326903343201 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012704604126732577, + 0.021231048378657413 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9f44a0124f0891798e85a9089ecb82fd5fc443656d03bfb2a8aeaba67e7df6ab", + "visual_seed": 4069204743156457291, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3fb142b3698d1576f22efbb7967c715862ec489e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2402337388856259, + 0.015776115958870244, + 1.1590744376192192 + ], + "current_z": 1.1590744376192192, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3024878706060089, + "gripper_z": 1.1524813459573469, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.235366203082712, + 0.010949287133495356, + 1.1524813459573469 + ], + "object_minus_gripper": [ + 0.004867535802913908, + 0.004826828825374888, + 0.006593091661872386 + ], + "object_to_gripper_xy": 0.006855011400582691, + "object_to_gripper_z": 0.006593091661872386, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2402337388856259, + -0.008161141761455304, + 1.1590744376192192 + ], + "finger_b": [ + 0.22925041648864075, + 0.015776115958870244, + 1.1590744376192192 + ], + "finger_midpoint": [ + 0.23474207768713334, + 0.00380748709870747, + 1.1590744376192192 + ], + "object_minus_finger_midpoint": [ + 0.0054916611984925645, + 0.011968628860162773, + 0.0 + ], + "finger_gap": 0.026336774252846546, + "fingertip_max_gap": 0.09074033508299126, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013168387126423268, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1590744376192192, + "object_top_z": 1.2045170667342497, + "finger_top_clearance": 0.0454426291150305, + "fingertip_min_top_clearance": 0.013632788734509182, + "object_projection_between_fingers": 0.826082893562917, + "object_to_finger_line_xy": 0.0099826431406512, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04787016754149563, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3205951563533858, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33614774879529286, + -0.3050745730259844, + 0.8470194969894411 + ], + "target_position": [ + 0.3291154419481514, + -0.30587155370332975, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00707732419721002, + "xy_threshold": 0.08, + "gripper_dist": 0.18666664677951822, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194969894411, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539880547547623, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08535276326611173, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1550076221705523, + "release_required_pad_clearance": 0.052676381633055866, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.40926044369150805, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007357597351074219, + "max_z_decrease": 0.007357597351074219, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501951587013822, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007357597351074219, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021267149763228632, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007357597351074219, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073576203594741115, + "max_button_displacement": 0.12, + "button_start": [ + 0.18481536209583282, + -0.3621330261230469, + 0.7768088579177856 + ], + "button_final": [ + 0.18481536209583282, + -0.3621330261230469, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18502898556394995, + -0.36087814381815164, + 0.8044473821221841 + ], + "closest_button": [ + 0.18479736149311066, + -0.36213684082031244, + 0.7694512605667114 + ], + "closest_ee_minus_button": [ + 0.00023162407083929248, + 0.0012586970021608024, + 0.034996121555472715 + ], + "button_min_z_position": [ + 0.18479736149311066, + -0.36213684082031244, + 0.7694512605667114 + ], + "min_active_finger_to_button": 0.14515213630808285, + "closest_active_finger": [ + 0.05848009139299393, + -0.4244133234024048, + 0.8082042336463928 + ], + "closest_active_finger_button": [ + 0.18482699990272522, + -0.36213856935501093, + 0.7731691598892212 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1263469085097313, + -0.062274754047393854, + 0.03503507375717163 + ], + "min_contact_pad_to_button": 0.021267149763228632, + "closest_contact_pad": [ + 0.18479736149311066, + -0.36213684082031244, + 0.7907184103299401 + ], + "closest_contact_pad_button": [ + 0.18479736149311066, + -0.36213684082031244, + 0.7694512605667114 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021267149763228632 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9689983826f2add865b9f55d8def8a33355a5ade11b62a261f96a71a17fc1a0a", + "visual_seed": 2848678018485719615, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dd2edf1a29580f21ef7e308a3792e734b0b8f6ec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23830402715395277, + 0.024111667096857903, + 1.1562791243124815 + ], + "current_z": 1.1562791243124815, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.29969255729927113, + "gripper_z": 1.1496084605065995, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23320110832656452, + 0.01936060407135594, + 1.1496084605065995 + ], + "object_minus_gripper": [ + 0.005102918827388253, + 0.004751063025501965, + 0.006670663805881993 + ], + "object_to_gripper_xy": 0.006972257914851213, + "object_to_gripper_z": 0.006670663805881993, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23830402715395277, + -9.239078621671328e-05, + 1.1562791243124815 + ], + "finger_b": [ + 0.22758493572661553, + 0.024111667096857903, + 1.1562791243124815 + ], + "finger_midpoint": [ + 0.23294448144028415, + 0.012009638155320594, + 1.1562791243124815 + ], + "object_minus_finger_midpoint": [ + 0.0053595457136686175, + 0.012102028941537309, + 0.0 + ], + "finger_gap": 0.026471406064560325, + "fingertip_max_gap": 0.09045147393811587, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013235703032280163, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1562791243124815, + "object_top_z": 1.2015639902406638, + "finger_top_clearance": 0.04528486592818237, + "fingertip_min_top_clearance": 0.013585459778454712, + "object_projection_between_fingers": 0.8360309311845598, + "object_to_finger_line_xy": 0.009800971989492575, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047725736969057936, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3292166490512678, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3398320091871747, + -0.31011649675015196, + 0.8470196526841296 + ], + "target_position": [ + 0.3316555262690509, + -0.31169489250106747, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008327436944034951, + "xy_threshold": 0.08, + "gripper_dist": 0.186286668406157, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196526841296, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758110376187981, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08775248590978278, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15382490825901787, + "release_required_pad_clearance": 0.05387624295489139, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7613868005062736, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007683098316192627, + "max_z_decrease": 0.007683098316192627, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508584076565562, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007683098316192627, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021319349221552413, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007683098316192627, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007683120781147787, + "max_button_displacement": 0.12, + "button_start": [ + 0.18735545873641962, + -0.36795634031295776, + 0.7768088579177856 + ], + "button_final": [ + 0.18735545873641962, + -0.36795634031295776, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18504135602457666, + -0.3682822966741521, + 0.8084553156720818 + ], + "closest_button": [ + 0.1873672306537628, + -0.3679628372192383, + 0.77344810962677 + ], + "closest_ee_minus_button": [ + -0.0023258746291861254, + -0.00031945945491379524, + 0.03500720604531182 + ], + "button_min_z_position": [ + 0.1873369067907333, + -0.36795735359191895, + 0.769125759601593 + ], + "min_active_finger_to_button": 0.14859399413604618, + "closest_active_finger": [ + 0.05736484378576279, + -0.43072718381881714, + 0.8081478476524353 + ], + "closest_active_finger_button": [ + 0.1873683482408523, + -0.36796313524246216, + 0.7729350924491882 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1300035044550895, + -0.06276404857635498, + 0.03521275520324707 + ], + "min_contact_pad_to_button": 0.021319349221552413, + "closest_contact_pad": [ + 0.1873369067907333, + -0.36977487663795977, + 0.7903674935517115 + ], + "closest_contact_pad_button": [ + 0.1873369067907333, + -0.36795735359191895, + 0.769125759601593 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018175230460408254, + 0.021241733950118524 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f9e5e5372e7b5bbeef77b40c2fccc1c166ffdf57ded3fb05a4a34c8d19557cec", + "visual_seed": 2456657253290107324, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3653d49ae62b3bb8de2df188ed0b1466fbd2ba42 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24227169021330486, + 0.01642956852703587, + 1.1564937811235094 + ], + "current_z": 1.1564937811235094, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.29990727371494386, + "gripper_z": 1.1498514791338643, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23723160160120527, + 0.011692599117546429, + 1.1498514791338643 + ], + "object_minus_gripper": [ + 0.005040088612099591, + 0.0047369694094894395, + 0.006642301989645105 + ], + "object_to_gripper_xy": 0.006916745795838872, + "object_to_gripper_z": 0.006642301989645105, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24227169021330486, + -0.007745122052966485, + 1.1564937811235094 + ], + "finger_b": [ + 0.23159451151787758, + 0.01642956852703587, + 1.1564937811235094 + ], + "finger_midpoint": [ + 0.23693310086559122, + 0.0043422232370346914, + 1.1564937811235094 + ], + "object_minus_finger_midpoint": [ + 0.00533858934771364, + 0.012087345290001177, + 0.0 + ], + "finger_gap": 0.026427595606353233, + "fingertip_max_gap": 0.09072775924539539, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013213797803176617, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1564937811235094, + "object_top_z": 1.2018139139890307, + "finger_top_clearance": 0.04532013286552128, + "fingertip_min_top_clearance": 0.01359603985965635, + "object_projection_between_fingers": 0.836770850717103, + "object_to_finger_line_xy": 0.00976696840204773, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478638796226977, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5056300621649858, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33583637022292523, + -0.3025085768440662, + 0.847019790212052 + ], + "target_position": [ + 0.3262257775229089, + -0.3045168123499169, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009818172023985274, + "xy_threshold": 0.08, + "gripper_dist": 0.18739695652417276, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019790212052, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574370957458725, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08605343152632076, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15520994638377844, + "release_required_pad_clearance": 0.053026715763160384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.084249426238183, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007592976093292236, + "max_z_decrease": 0.007592976093292236, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499961967272384, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007592976093292236, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021301909172147006, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007592976093292236, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007593001512758052, + "max_button_displacement": 0.12, + "button_start": [ + 0.1819256991147995, + -0.36077827215194697, + 0.7768088579177856 + ], + "button_final": [ + 0.1819256991147995, + -0.36077827215194697, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18253064551716733, + -0.36081144836594325, + 0.8042747731575515 + ], + "closest_button": [ + 0.18190650641918182, + -0.3607816398143768, + 0.769280731678009 + ], + "closest_ee_minus_button": [ + 0.0006241390979855044, + -2.9808551566479213e-05, + 0.03499404147954244 + ], + "button_min_z_position": [ + 0.1819063425064087, + -0.3607816398143768, + 0.7692158818244934 + ], + "min_active_finger_to_button": 0.14538638207119528, + "closest_active_finger": [ + 0.05551843345165253, + -0.42343753576278687, + 0.807887077331543 + ], + "closest_active_finger_button": [ + 0.1819378286600113, + -0.3607853055000305, + 0.7728152275085449 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12641939520835876, + -0.06265223026275635, + 0.03507184982299805 + ], + "min_contact_pad_to_button": 0.021301909172147006, + "closest_contact_pad": [ + 0.1819063425064087, + -0.36203748583188006, + 0.7904807398103517 + ], + "closest_contact_pad_button": [ + 0.1819063425064087, + -0.3607816398143768, + 0.7692158818244934 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012558460175032815, + 0.02126485798585831 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dbb729f87b3409c9802903eef7094e3a9c4b97d5e2bbaab0e08e2bf7a06b816e", + "visual_seed": 5826795703206620467, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fcd37881118a216813d69b9cb330714edb99a426 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2414566189214198, + 0.02491554662355459, + 1.1571091517508705 + ], + "current_z": 1.1571091517508705, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.30052276355159446, + "gripper_z": 1.1503556048939192, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23668174577086093, + 0.02006930567522247, + 1.1503556048939192 + ], + "object_minus_gripper": [ + 0.004774873150558884, + 0.004846240948332119, + 0.006753546856951287 + ], + "object_to_gripper_xy": 0.006803342188455548, + "object_to_gripper_z": 0.006753546856951287, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2414566189214198, + 0.0010803885875925025, + 1.1571091517508705 + ], + "finger_b": [ + 0.23039985972797383, + 0.02491554662355459, + 1.1571091517508705 + ], + "finger_midpoint": [ + 0.2359282393246968, + 0.012997967605573547, + 1.1571091517508705 + ], + "object_minus_finger_midpoint": [ + 0.005528379596723004, + 0.011917579017981043, + 0.0 + ], + "finger_gap": 0.026274829827443988, + "fingertip_max_gap": 0.09035926257095131, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013137414913722, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1571091517508705, + "object_top_z": 1.2024763533438516, + "finger_top_clearance": 0.04536720159298113, + "fingertip_min_top_clearance": 0.01361016047789434, + "object_projection_between_fingers": 0.8229174046667097, + "object_to_finger_line_xy": 0.010030116444982473, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767963128547566, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.10097073013208294, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33835031143217714, + -0.3091024718722321, + 0.8470196441639678 + ], + "target_position": [ + 0.3318464002798863, + -0.30966392654560737, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006528100154497311, + "xy_threshold": 0.08, + "gripper_dist": 0.186522063342901, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196441639678, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531299253518531, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08587300933766127, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15512956153143864, + "release_required_pad_clearance": 0.05293650466883064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9099900457073187, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007641196250915527, + "max_z_decrease": 0.007641196250915527, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035037665408018205, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007641196250915527, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021248489032784534, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007641196250915527, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007641221958871124, + "max_button_displacement": 0.12, + "button_start": [ + 0.18754632771015162, + -0.36592537164688105, + 0.7768088579177856 + ], + "button_final": [ + 0.18754632771015162, + -0.36592537164688105, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18843832873460764, + -0.3644236858158123, + 0.8041611686638785 + ], + "closest_button": [ + 0.18752661347389216, + -0.36592742800712585, + 0.7691676616668701 + ], + "closest_ee_minus_button": [ + 0.0009117152607154844, + 0.0015037421913135507, + 0.03499350699700843 + ], + "button_min_z_position": [ + 0.18752661347389216, + -0.36592742800712585, + 0.7691676616668701 + ], + "min_active_finger_to_button": 0.1444834569926209, + "closest_active_finger": [ + 0.06206008791923523, + -0.42831894755363464, + 0.8081315159797668 + ], + "closest_active_finger_button": [ + 0.18755719065666193, + -0.3659317791461944, + 0.7730062007904053 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1254971027374267, + -0.06238716840744024, + 0.03512531518936157 + ], + "min_contact_pad_to_button": 0.021248489032784534, + "closest_contact_pad": [ + 0.18752661347389216, + -0.36592742800712585, + 0.7904161506996547 + ], + "closest_contact_pad_button": [ + 0.18752661347389216, + -0.36592742800712585, + 0.7691676616668701 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021248489032784534 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3b404fe9e6dd570a7c1325bbfc7ccf4ce149ca47c5ab80eac880ef0ac39de214", + "visual_seed": 8844117428557680912, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..70b865e4e5d206ecee590f54bbf9f5a0334694b1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2380259267813263, + 0.019764275644034778, + 1.1588794165707357 + ], + "current_z": 1.1588794165707357, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3022929091621701, + "gripper_z": 1.1521842825452973, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23308408812527553, + 0.0150800608746431, + 1.1521842825452973 + ], + "object_minus_gripper": [ + 0.004941838656050773, + 0.004684214769391678, + 0.006695134025438421 + ], + "object_to_gripper_xy": 0.006809084909752914, + "object_to_gripper_z": 0.006695134025438421, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2380259267813263, + -0.004350449804117966, + 1.1588794165707357 + ], + "finger_b": [ + 0.22743010184314713, + 0.019764275644034778, + 1.1588794165707357 + ], + "finger_midpoint": [ + 0.23272801431223672, + 0.007706912919958406, + 1.1588794165707357 + ], + "object_minus_finger_midpoint": [ + 0.0052979124690895885, + 0.012057362724076372, + 0.0 + ], + "finger_gap": 0.026339921973315056, + "fingertip_max_gap": 0.09052050280224733, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013169960986657528, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1588794165707357, + "object_top_z": 1.204184684514583, + "finger_top_clearance": 0.04530526794384726, + "fingertip_min_top_clearance": 0.013591580383154145, + "object_projection_between_fingers": 0.8381768761797735, + "object_to_finger_line_xy": 0.009700689680848083, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047760251401123666, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3001056105500036, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33899510900506336, + -0.30837303531827254, + 0.8470195658430959 + ], + "target_position": [ + 0.32999395592030645, + -0.3103209740498336, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009209518019806712, + "xy_threshold": 0.08, + "gripper_dist": 0.1876794626880833, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195658430959, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572834884895353, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08668582517197963, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15567186711320968, + "release_required_pad_clearance": 0.05334291258598982, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.702216794140253, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0075057148933410645, + "max_z_decrease": 0.0075057148933410645, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502126034233061, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0075057148933410645, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021334453727599113, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0075057148933410645, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0075057324852846365, + "max_button_displacement": 0.12, + "button_start": [ + 0.1856938749551773, + -0.36658242344856257, + 0.7768088579177856 + ], + "button_final": [ + 0.1856938749551773, + -0.36658242344856257, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18500654914058842, + -0.36703757480424226, + 0.8080975202211524 + ], + "closest_button": [ + 0.18570668995380396, + -0.36658915877342213, + 0.7730861306190491 + ], + "closest_ee_minus_button": [ + -0.0007001408132155384, + -0.00044841603082013126, + 0.03501138960210337 + ], + "button_min_z_position": [ + 0.18567767739295957, + -0.36658373475074757, + 0.7693031430244446 + ], + "min_active_finger_to_button": 0.14709781671700736, + "closest_active_finger": [ + 0.04391380399465561, + -0.34985649585723877, + 0.8084776997566223 + ], + "closest_active_finger_button": [ + 0.18570668995380396, + -0.36658915877342213, + 0.7730861306190491 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14179288595914835, + 0.01673266291618336, + 0.03539156913757324 + ], + "min_contact_pad_to_button": 0.021334453727599113, + "closest_contact_pad": [ + 0.18567767739295957, + -0.3685856935089362, + 0.7905434602769147 + ], + "closest_contact_pad_button": [ + 0.18567767739295957, + -0.36658373475074757, + 0.7693031430244446 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002001958758188649, + 0.02124031725247011 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a121d1a878d66e2a8623dad2fb8d9212629118a4205edcca6cc0cdc75e1c1417", + "visual_seed": 6767577789123603731, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b983fed73032bf5a106cb834389eeb6dac2fc4dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24145914536690813, + 0.015227464127718079, + 1.1586134765345941 + ], + "current_z": 1.1586134765345941, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30202702873067333, + "gripper_z": 1.1519977846561853, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23643588992620332, + 0.010394915318189063, + 1.1519977846561853 + ], + "object_minus_gripper": [ + 0.00502325544070481, + 0.004832548809529016, + 0.006615691878408825 + ], + "object_to_gripper_xy": 0.006970410548816389, + "object_to_gripper_z": 0.006615691878408825, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24145914536690813, + -0.008833599213454156, + 1.1586134765345941 + ], + "finger_b": [ + 0.2304919312446788, + 0.015227464127718079, + 1.1586134765345941 + ], + "finger_midpoint": [ + 0.23597553830579346, + 0.003196932457131961, + 1.1586134765345941 + ], + "object_minus_finger_midpoint": [ + 0.00548360706111467, + 0.012030531670586118, + 0.0 + ], + "finger_gap": 0.026442665423718714, + "fingertip_max_gap": 0.09060878984230405, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013221332711859357, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1586134765345941, + "object_top_z": 1.203979887828781, + "finger_top_clearance": 0.04536641129418695, + "fingertip_min_top_clearance": 0.013609923388256118, + "object_projection_between_fingers": 0.8279787158426823, + "object_to_finger_line_xy": 0.009979433973190142, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780439492115203, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30017128649978597, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33185911850563427, + -0.308697052864224, + 0.8470194699982481 + ], + "target_position": [ + 0.3234095082684128, + -0.31024429936343584, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008590103892868876, + "xy_threshold": 0.08, + "gripper_dist": 0.18663236226062194, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194699982481, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533191476543656, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08502566224750001, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15530811503685762, + "release_required_pad_clearance": 0.052512831123750006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.09691326494480147, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007196903228759766, + "max_z_decrease": 0.007196903228759766, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503726239100725, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007196903228759766, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021244699861873422, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007196903228759766, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007196918754873924, + "max_button_displacement": 0.12, + "button_start": [ + 0.17910943925380707, + -0.3665057718753814, + 0.7768088579177856 + ], + "button_final": [ + 0.17910943925380707, + -0.3665057718753814, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17736266238330273, + -0.3668686891749213, + 0.8076684832032461 + ], + "closest_button": [ + 0.17909903824329373, + -0.36651009321212763, + 0.7726761102676392 + ], + "closest_ee_minus_button": [ + -0.0017363758599910073, + -0.0003585959627936952, + 0.034992372935606975 + ], + "button_min_z_position": [ + 0.17909511923789975, + -0.36651006340980524, + 0.7696119546890259 + ], + "min_active_finger_to_button": 0.14791737886444575, + "closest_active_finger": [ + 0.03627283126115799, + -0.3503250479698181, + 0.8080752491950989 + ], + "closest_active_finger_button": [ + 0.1791198551654815, + -0.36651295423507685, + 0.7732581496238708 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14284702390432352, + 0.016187906265258734, + 0.03481709957122803 + ], + "min_contact_pad_to_button": 0.021244699861873422, + "closest_contact_pad": [ + 0.17909511923789975, + -0.3682296658688987, + 0.7907869455887586 + ], + "closest_contact_pad_button": [ + 0.17909511923789975, + -0.36651006340980524, + 0.7696119546890259 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017196024590934722, + 0.021174990899732737 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "67a30bf52b6e633a23fde07f4f1fb7428e648d241fc775959fb9dfcf890688f1", + "visual_seed": 349369547720437119, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f6f17b5ca47f8e28f78c92047281f1fc237b19a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23650537655233797, + 0.02092773658871861, + 1.1578564423114839 + ], + "current_z": 1.1578564423114839, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.30126987529827376, + "gripper_z": 1.1514219213471264, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23139032344185412, + 0.01605465623165582, + 1.1514219213471264 + ], + "object_minus_gripper": [ + 0.005115053110483853, + 0.004873080357062791, + 0.006434520964357482 + ], + "object_to_gripper_xy": 0.007064749145543793, + "object_to_gripper_z": 0.006434520964357482, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23650537655233797, + -0.0031324195588948926, + 1.1578564423114839 + ], + "finger_b": [ + 0.22540373638107045, + 0.02092773658871861, + 1.1578564423114839 + ], + "finger_midpoint": [ + 0.2309545564667042, + 0.008897658514911859, + 1.1578564423114839 + ], + "object_minus_finger_midpoint": [ + 0.005550820085633762, + 0.012030078073806752, + 0.0 + ], + "finger_gap": 0.026497877808229185, + "fingertip_max_gap": 0.09054733060737316, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013248938904114592, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1578564423114839, + "object_top_z": 1.2032101417855632, + "finger_top_clearance": 0.0453536994740793, + "fingertip_min_top_clearance": 0.013606109842223824, + "object_projection_between_fingers": 0.824469695013015, + "object_to_finger_line_xy": 0.010080324090420645, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777366530368658, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.27288214360304514, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3348472424137642, + -0.30821833502077756, + 0.8470192150272496 + ], + "target_position": [ + 0.32599875516569, + -0.310066820818446, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00903950365470989, + "xy_threshold": 0.08, + "gripper_dist": 0.18888460789780334, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192150272496, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584657951066033, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861427633670183, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15642754069550466, + "release_required_pad_clearance": 0.05307138168350915, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.168333741074127, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007557809352874756, + "max_z_decrease": 0.007557809352874756, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509158813189608, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007557809352874756, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021250939781949443, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007557809352874756, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007557827506573718, + "max_button_displacement": 0.12, + "button_start": [ + 0.18169867992401117, + -0.3663282692432403, + 0.7768088579177856 + ], + "button_final": [ + 0.18169867992401117, + -0.3663282692432403, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1794515004481653, + -0.36501229580014866, + 0.8046979435278812 + ], + "closest_button": [ + 0.1816828846931457, + -0.3663306832313537, + 0.7697021961212158 + ], + "closest_ee_minus_button": [ + -0.0022313842449804, + 0.001318387431205048, + 0.034995747406665334 + ], + "button_min_z_position": [ + 0.18168233335018152, + -0.3663309514522552, + 0.7692510485649109 + ], + "min_active_finger_to_button": 0.14742156727404898, + "closest_active_finger": [ + 0.05148724466562271, + -0.4257683753967285, + 0.8080800771713257 + ], + "closest_active_finger_button": [ + 0.18171203136444086, + -0.3663353621959685, + 0.7728332281112671 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.13022478669881815, + -0.05943301320076, + 0.035246849060058594 + ], + "min_contact_pad_to_button": 0.021250939781949443, + "closest_contact_pad": [ + 0.18168233335018152, + -0.36645651971698573, + 0.790501617362638 + ], + "closest_contact_pad_button": [ + 0.18168233335018152, + -0.3663309514522552, + 0.7692510485649109 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00012556826473053562, + 0.021250568797727132 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7256bd6c5159c086190291c75231356a8b5f9473a28ce52c644805d2dbe1aa23", + "visual_seed": 739319244054031638, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2bd3972062bec33076685c3bcbbbb3a5fa12ae86 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2449231848132644, + 0.024040998880601558, + 1.1607209272058967 + ], + "current_z": 1.1607209272058967, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30413441979733113, + "gripper_z": 1.1538959847055321, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2401951317697862, + 0.019402474696404215, + 1.1538959847055321 + ], + "object_minus_gripper": [ + 0.004728053043478175, + 0.004638524184197343, + 0.006824942500364584 + ], + "object_to_gripper_xy": 0.006623472819399719, + "object_to_gripper_z": 0.006824942500364584, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2449231848132644, + 5.169422165069304e-05, + 1.1607209272058967 + ], + "finger_b": [ + 0.2344133382726595, + 0.024040998880601558, + 1.1607209272058967 + ], + "finger_midpoint": [ + 0.23966826154296195, + 0.012046346551126125, + 1.1607209272058967 + ], + "object_minus_finger_midpoint": [ + 0.005254923270302442, + 0.011994652329475433, + 0.0 + ], + "finger_gap": 0.02619052523961721, + "fingertip_max_gap": 0.09033425973162906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013095262619808605, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1607209272058967, + "object_top_z": 1.206027011609439, + "finger_top_clearance": 0.045306084403542224, + "fingertip_min_top_clearance": 0.013591825321062666, + "object_projection_between_fingers": 0.8389709120078463, + "object_to_finger_line_xy": 0.009626531284680577, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047667129865814534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3222426652807149, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3389229743938672, + -0.3029854024330546, + 0.8470191651588843 + ], + "target_position": [ + 0.33149181279843154, + -0.3041706074261353, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007525082958552768, + "xy_threshold": 0.08, + "gripper_dist": 0.1868567400241949, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191651588843, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754759721262531, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548605468858193, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15504992378820803, + "release_required_pad_clearance": 0.05274302734429097, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5352197552034483, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007289469242095947, + "max_z_decrease": 0.007289469242095947, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035008846355380555, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007289469242095947, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021250378925015863, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007289469242095947, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0072894875551263215, + "max_button_displacement": 0.12, + "button_start": [ + 0.18719173967838282, + -0.3604320585727691, + 0.7768088579177856 + ], + "button_final": [ + 0.18719173967838282, + -0.3604320585727691, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18705571691905284, + -0.35990961272431804, + 0.8045241121415644 + ], + "closest_button": [ + 0.18717545270919794, + -0.3604333698749542, + 0.7695193886756897 + ], + "closest_ee_minus_button": [ + -0.00011973579014509794, + 0.0005237571506361838, + 0.03500472346587469 + ], + "button_min_z_position": [ + 0.18717545270919794, + -0.3604333698749542, + 0.7695193886756897 + ], + "min_active_finger_to_button": 0.1458702225277502, + "closest_active_finger": [ + 0.059870921075344086, + -0.42213886976242065, + 0.8086658120155334 + ], + "closest_active_finger_button": [ + 0.18720567226409907, + -0.3604386746883392, + 0.7732106447219849 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12733475118875498, + -0.061700195074081476, + 0.035455167293548584 + ], + "min_contact_pad_to_button": 0.021250378925015863, + "closest_contact_pad": [ + 0.18717545270919794, + -0.361176666473322, + 0.7907567640931845 + ], + "closest_contact_pad_button": [ + 0.18717545270919794, + -0.3604333698749542, + 0.7695193886756897 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007432965983677486, + 0.02123737541749482 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "898e253c6589d28e9e48156370b8928c35fe93f308752c1880e3dd6aa24a80ea", + "visual_seed": 4048857959530772260, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..49b49979cf243c37a059fcf7f805b330220172a9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24476029166260302, + 0.018726384534341056, + 1.157055416077631 + ], + "current_z": 1.157055416077631, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30046896827371017, + "gripper_z": 1.1503240399030985, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2399232691583971, + 0.01380299089672625, + 1.1503240399030985 + ], + "object_minus_gripper": [ + 0.004837022504205923, + 0.004923393637614806, + 0.006731376174532455 + ], + "object_to_gripper_xy": 0.006901926659788591, + "object_to_gripper_z": 0.006731376174532455, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24476029166260302, + -0.004991237926139807, + 1.157055416077631 + ], + "finger_b": [ + 0.23338309485634207, + 0.018726384534341056, + 1.157055416077631 + ], + "finger_midpoint": [ + 0.23907169325947253, + 0.006867573304100625, + 1.157055416077631 + ], + "object_minus_finger_midpoint": [ + 0.00568859840313049, + 0.011858811230240431, + 0.0 + ], + "finger_gap": 0.026305250851233117, + "fingertip_max_gap": 0.09087307106893452, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013152625425616566, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157055416077631, + "object_top_z": 1.2024647718443018, + "finger_top_clearance": 0.04540935576667082, + "fingertip_min_top_clearance": 0.013622806730001213, + "object_projection_between_fingers": 0.812937968663426, + "object_to_finger_line_xy": 0.010258030232653592, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047936535534467264, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.39548434375413116, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3321865859992041, + -0.3084368029837167, + 0.8470195822568007 + ], + "target_position": [ + 0.3252298716872526, + -0.3091955054174083, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006997964232617967, + "xy_threshold": 0.08, + "gripper_dist": 0.18467819743891625, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195822568007, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523330947054406, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08617134215044996, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15360872944343926, + "release_required_pad_clearance": 0.05308567107522498, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1994092907268972, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007472217082977295, + "max_z_decrease": 0.007472217082977295, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506015674889206, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007472217082977295, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02121089508616198, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007472217082977295, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007472241542912306, + "max_button_displacement": 0.12, + "button_start": [ + 0.1809297949075698, + -0.36545696854591364, + 0.7768088579177856 + ], + "button_final": [ + 0.1809297949075698, + -0.36545696854591364, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18168874300365756, + -0.3655240766322759, + 0.8076811667722166 + ], + "closest_button": [ + 0.18091975152492515, + -0.3654619455337524, + 0.7726294994354248 + ], + "closest_ee_minus_button": [ + 0.0007689914787324115, + -6.213109852348797e-05, + 0.03505166733679177 + ], + "button_min_z_position": [ + 0.18091128766536707, + -0.36546176671981806, + 0.7693366408348083 + ], + "min_active_finger_to_button": 0.14550453516312625, + "closest_active_finger": [ + 0.04029035568237305, + -0.3517187237739563, + 0.808274507522583 + ], + "closest_active_finger_button": [ + 0.18093678355216972, + -0.3654635548591613, + 0.7736157178878784 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14064642786979667, + 0.013744831085205023, + 0.03465878963470459 + ], + "min_contact_pad_to_button": 0.02121089508616198, + "closest_contact_pad": [ + 0.18091128766536707, + -0.3666196788405732, + 0.7905159068720623 + ], + "closest_contact_pad_button": [ + 0.18091128766536707, + -0.36546176671981806, + 0.7693366408348083 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011579121207551668, + 0.021179266037253952 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "750bc80be395d6607d507c8b20287894ac45251e49081737dd614481b6b5ab48", + "visual_seed": 704443940138451732, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1b585fb4e1cc10de8e0899e6bd549b9bac001caf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23640496528807128, + 0.018553697236786636, + 1.1594102182608175 + ], + "current_z": 1.1594102182608175, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3028237108522519, + "gripper_z": 1.1528742787592234, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2314360009101326, + 0.01381120894276193, + 1.1528742787592234 + ], + "object_minus_gripper": [ + 0.004968964377938673, + 0.004742488294024707, + 0.006535939501594035 + ], + "object_to_gripper_xy": 0.0068689010917456685, + "object_to_gripper_z": 0.006535939501594035, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23640496528807128, + -0.005625788287345173, + 1.1594102182608175 + ], + "finger_b": [ + 0.22577256569901558, + 0.018553697236786636, + 1.1594102182608175 + ], + "finger_midpoint": [ + 0.23108876549354343, + 0.0064639544747207315, + 1.1594102182608175 + ], + "object_minus_finger_midpoint": [ + 0.005316199794527854, + 0.012089742762065904, + 0.0 + ], + "finger_gap": 0.02641392513870386, + "fingertip_max_gap": 0.09073974474615301, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01320696256935193, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1594102182608175, + "object_top_z": 1.2048451182109132, + "finger_top_clearance": 0.04543489995009575, + "fingertip_min_top_clearance": 0.013630469985028726, + "object_projection_between_fingers": 0.8379695289085449, + "object_to_finger_line_xy": 0.00973297041618605, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786987237307651, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3885336138717242, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33426180055107535, + -0.3032072499167495, + 0.8470196929041445 + ], + "target_position": [ + 0.32583044751329154, + -0.30458712065036353, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008543521363538028, + "xy_threshold": 0.08, + "gripper_dist": 0.18556360358031748, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196929041445, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536267078930234, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08618883306772372, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1542762618256315, + "release_required_pad_clearance": 0.05309441653386186, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2162577028982922, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007661759853363037, + "max_z_decrease": 0.007661759853363037, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035098977232096956, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007661759853363037, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021205121246862135, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007661759853363037, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007661785087053201, + "max_button_displacement": 0.12, + "button_start": [ + 0.18153037130832667, + -0.3608485758304596, + 0.7768088579177856 + ], + "button_final": [ + 0.18153037130832667, + -0.3608485758304596, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18252938093393525, + -0.35929113395672924, + 0.8041964858848435 + ], + "closest_button": [ + 0.18151146173477167, + -0.3608539700508117, + 0.7691470980644226 + ], + "closest_ee_minus_button": [ + 0.0010179191991635805, + 0.001562836094082476, + 0.035049387820420885 + ], + "button_min_z_position": [ + 0.18151146173477167, + -0.3608539700508117, + 0.7691470980644226 + ], + "min_active_finger_to_button": 0.14427622509597438, + "closest_active_finger": [ + 0.05671418458223343, + -0.4243578612804413, + 0.8095299601554871 + ], + "closest_active_finger_button": [ + 0.18153661489486692, + -0.36085340380668635, + 0.7748575806617737 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12482243031263349, + -0.06350445747375494, + 0.03467237949371338 + ], + "min_contact_pad_to_button": 0.021205121246862135, + "closest_contact_pad": [ + 0.18151146173477167, + -0.3608539700508117, + 0.7903522193112847 + ], + "closest_contact_pad_button": [ + 0.18151146173477167, + -0.3608539700508117, + 0.7691470980644226 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021205121246862135 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "44ddf58419e0f2dc8e636249ecfa8f955c590f0515869cd9041a307e91898148", + "visual_seed": 986852437240719245, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8d7390cca7a16b70d2522cb0066387c7adeaa17f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23865563813636273, + 0.020820179053208054, + 1.1572474559742134 + ], + "current_z": 1.1572474559742134, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.30066088896100296, + "gripper_z": 1.150599327157046, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23372615848438658, + 0.016103479752421712, + 1.150599327157046 + ], + "object_minus_gripper": [ + 0.004929479651976154, + 0.0047166993007863416, + 0.006648128817167365 + ], + "object_to_gripper_xy": 0.006822537792734116, + "object_to_gripper_z": 0.006648128817167365, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23865563813636273, + -0.0033691239096400732, + 1.1572474559742134 + ], + "finger_b": [ + 0.2281092657395837, + 0.020820179053208054, + 1.1572474559742134 + ], + "finger_midpoint": [ + 0.23338245193797322, + 0.00872552757178399, + 1.1572474559742134 + ], + "object_minus_finger_midpoint": [ + 0.005273186198389512, + 0.012094651481424063, + 0.0 + ], + "finger_gap": 0.026388413149713942, + "fingertip_max_gap": 0.09056861423646326, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013194206574856971, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1572474559742134, + "object_top_z": 1.202644555704363, + "finger_top_clearance": 0.045397099730149604, + "fingertip_min_top_clearance": 0.01361912991904488, + "object_projection_between_fingers": 0.8402725145230102, + "object_to_finger_line_xy": 0.00966747775310892, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778430711823163, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.325001553257916, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33461832002491687, + -0.3016864014863765, + 0.847019418652304 + ], + "target_position": [ + 0.3268677482706127, + -0.3028377183697904, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007835616956223125, + "xy_threshold": 0.08, + "gripper_dist": 0.1882311470822327, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019418652304, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532936694048238, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08654555421407593, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1569681410959351, + "release_required_pad_clearance": 0.05327277710703797, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5646940079194152, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0072245001792907715, + "max_z_decrease": 0.0072245001792907715, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035061851143192005, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0072245001792907715, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02148697045063075, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0072245001792907715, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007224519207714899, + "max_button_displacement": 0.12, + "button_start": [ + 0.1825676709413528, + -0.3590991795063019, + 0.7768088579177856 + ], + "button_final": [ + 0.1825676709413528, + -0.3590991795063019, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18332786910758966, + -0.3611287146231661, + 0.8056204581783113 + ], + "closest_button": [ + 0.18255425989627833, + -0.3591011762619018, + 0.7706258296966553 + ], + "closest_ee_minus_button": [ + 0.000773609211311338, + -0.0020275383612642917, + 0.03499462848165602 + ], + "button_min_z_position": [ + 0.18255135416984553, + -0.35910212993621826, + 0.7695843577384949 + ], + "min_active_finger_to_button": 0.1451906770288811, + "closest_active_finger": [ + 0.042492225766181946, + -0.344448983669281, + 0.8084898591041565 + ], + "closest_active_finger_button": [ + 0.18257935345172877, + -0.35910743474960327, + 0.7732611894607544 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14008712768554682, + 0.014658451080322266, + 0.0352286696434021 + ], + "min_contact_pad_to_button": 0.02148697045063075, + "closest_contact_pad": [ + 0.18257935345172877, + -0.35910743474960327, + 0.7947481599113851 + ], + "closest_contact_pad_button": [ + 0.18257935345172877, + -0.35910743474960327, + 0.7732611894607544 + ], + "closest_contact_pad_index": 1, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02148697045063075 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e23d2600911ffeb7f4d75623739202bd0963f3a7c8a897857674a43de1ef733b", + "visual_seed": 281732105837727320, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec16daa7fa7fed30e67c121f65ea5d55b7f7e552 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2369266801757685, + 0.015319255123215976, + 1.1581989653620253 + ], + "current_z": 1.1581989653620253, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.30161257716274925, + "gripper_z": 1.1516910583489086, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23199917197154943, + 0.010528283918847678, + 1.1516910583489086 + ], + "object_minus_gripper": [ + 0.004927508204219083, + 0.004790971204368298, + 0.006507907013116654 + ], + "object_to_gripper_xy": 0.006872680858568408, + "object_to_gripper_z": 0.006507907013116654, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2369266801757685, + -0.008641542474820825, + 1.1581989653620253 + ], + "finger_b": [ + 0.22597921584466663, + 0.015319255123215976, + 1.1581989653620253 + ], + "finger_midpoint": [ + 0.23145294801021757, + 0.0033388563241975753, + 1.1581989653620253 + ], + "object_minus_finger_midpoint": [ + 0.005473732165550943, + 0.0119803987990184, + 0.0 + ], + "finger_gap": 0.02634324954926469, + "fingertip_max_gap": 0.09055306438266406, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013171624774632344, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1581989653620253, + "object_top_z": 1.2035280994127218, + "finger_top_clearance": 0.045329134050696496, + "fingertip_min_top_clearance": 0.013598740215208948, + "object_projection_between_fingers": 0.8273015714428685, + "object_to_finger_line_xy": 0.009957388763247003, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777653219133203, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2895271514160161, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3307246682799864, + -0.3089188001413835, + 0.8470203551951445 + ], + "target_position": [ + 0.32267903899556827, + -0.31029416535568255, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008162339128888902, + "xy_threshold": 0.08, + "gripper_dist": 0.18557042209817678, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470203551951445, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562181166139761, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560211353159596, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15365378959360276, + "release_required_pad_clearance": 0.05280105676579798, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6440592363257545, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007290244102478027, + "max_z_decrease": 0.007290244102478027, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500341037408075, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007290244102478027, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021317001654861844, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007290244102478027, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007290267227033921, + "max_button_displacement": 0.12, + "button_start": [ + 0.17837896943092346, + -0.36655563116073603, + 0.7768088579177856 + ], + "button_final": [ + 0.17837896943092346, + -0.36655563116073603, + 0.7768088579177856 + ], + "closest_ee": [ + 0.178504138648885, + -0.3671263559841459, + 0.8056371302527793 + ], + "closest_button": [ + 0.1783618927001953, + -0.3665603697299957, + 0.7706385850906372 + ], + "closest_ee_minus_button": [ + 0.00014224594868969542, + -0.0005659862541501637, + 0.03499854516214207 + ], + "button_min_z_position": [ + 0.17836131155490875, + -0.3665606677532196, + 0.7695186138153076 + ], + "min_active_finger_to_button": 0.1458680298784271, + "closest_active_finger": [ + 0.037685759365558624, + -0.3504098057746887, + 0.8081217408180237 + ], + "closest_active_finger_button": [ + 0.1783907264471054, + -0.366561472415924, + 0.7732115983963013 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14070496708154678, + 0.016151666641235296, + 0.03491014242172241 + ], + "min_contact_pad_to_button": 0.021317001654861844, + "closest_contact_pad": [ + 0.17836131155490875, + -0.3684227606267744, + 0.7907541305192552 + ], + "closest_contact_pad_button": [ + 0.17836131155490875, + -0.3665606677532196, + 0.7695186138153076 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018620928735548214, + 0.021235516703947632 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c3dab13705bf99484a4b013366ae02aa641e3149e0a1e491cb73e16a10a5a27a", + "visual_seed": 688565310783256298, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0e826edbf32a359135084ee6566ca3624905517d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24211250709535945, + 0.02128033369924664, + 1.1581144656324105 + ], + "current_z": 1.1581144656324105, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.3015280178284899, + "gripper_z": 1.1514110340324326, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23730520192391852, + 0.016572391120856705, + 1.1514110340324326 + ], + "object_minus_gripper": [ + 0.004807305171440929, + 0.004707942578389936, + 0.006703431599977883 + ], + "object_to_gripper_xy": 0.006728663042000214, + "object_to_gripper_z": 0.006703431599977883, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24211250709535945, + -0.002753703180601181, + 1.1581144656324105 + ], + "finger_b": [ + 0.2314834869467221, + 0.02128033369924664, + 1.1581144656324105 + ], + "finger_midpoint": [ + 0.23679799702104076, + 0.009263315259322731, + 1.1581144656324105 + ], + "object_minus_finger_midpoint": [ + 0.005314510074318685, + 0.01201701843992391, + 0.0 + ], + "finger_gap": 0.02627947864897673, + "fingertip_max_gap": 0.09050929659142162, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313973932448837, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1581144656324105, + "object_top_z": 1.2035492352026922, + "finger_top_clearance": 0.0454347695702817, + "fingertip_min_top_clearance": 0.013630430871084542, + "object_projection_between_fingers": 0.8364114246121632, + "object_to_finger_line_xy": 0.009720826872603987, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047754648295710814, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2520154788911947, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33678190398335506, + -0.3025888131541392, + 0.8470192454923025 + ], + "target_position": [ + 0.3300149532266932, + -0.30319314539641945, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00679388254256325, + "xy_threshold": 0.08, + "gripper_dist": 0.18639668099417034, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192454923025, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523068349034401, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08597497287045984, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15514060486947004, + "release_required_pad_clearance": 0.05298748643522992, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0055976027621623, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073296427726745605, + "max_z_decrease": 0.0073296427726745605, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505473519884237, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073296427726745605, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021484264475594927, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073296427726745605, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007329660367077347, + "max_button_displacement": 0.12, + "button_start": [ + 0.1857148855924606, + -0.35945460200309753, + 0.7768088579177856 + ], + "button_final": [ + 0.1857148855924606, + -0.35945460200309753, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18601374529239373, + -0.36150179358874795, + 0.8044727833629494 + ], + "closest_button": [ + 0.1856988817453384, + -0.359455943107605, + 0.7694792151451111 + ], + "closest_ee_minus_button": [ + 0.0003148635470553163, + -0.0020458504811429745, + 0.03499356821783828 + ], + "button_min_z_position": [ + 0.1856988817453384, + -0.359455943107605, + 0.7694792151451111 + ], + "min_active_finger_to_button": 0.14552718987664917, + "closest_active_finger": [ + 0.0452728196978569, + -0.3452020287513733, + 0.8085155487060547 + ], + "closest_active_finger_button": [ + 0.18572761118412015, + -0.35946178436279297, + 0.7731987833976746 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14045479148626325, + 0.014259755611419678, + 0.03531676530838013 + ], + "min_contact_pad_to_button": 0.021484264475594927, + "closest_contact_pad": [ + 0.18572761118412015, + -0.35946178436279297, + 0.7946830478732695 + ], + "closest_contact_pad_button": [ + 0.18572761118412015, + -0.35946178436279297, + 0.7731987833976746 + ], + "closest_contact_pad_index": 1, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021484264475594927 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "20e0b682034de75395f9eda475441285b13de3c164f31aef88cfe0d325c036cf", + "visual_seed": 1375277949752286099, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b78b33ca938a6e70ef2576360802708c55922d94 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23764009851390888, + 0.02171949405887179, + 1.1581190256369316 + ], + "current_z": 1.1581190256369316, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3015325778330108, + "gripper_z": 1.1515472831503077, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23265771203325075, + 0.016913655383510237, + 1.1515472831503077 + ], + "object_minus_gripper": [ + 0.00498238648065813, + 0.004805838675361551, + 0.006571742486623844 + ], + "object_to_gripper_xy": 0.006922446129530064, + "object_to_gripper_z": 0.006571742486623844, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23764009851390888, + -0.0022949760935148033, + 1.1581190256369316 + ], + "finger_b": [ + 0.22669973064793758, + 0.02171949405887179, + 1.1581190256369316 + ], + "finger_midpoint": [ + 0.23216991458092323, + 0.009712258982678492, + 1.1581190256369316 + ], + "object_minus_finger_midpoint": [ + 0.0054701839329856505, + 0.012007235076193296, + 0.0 + ], + "finger_gap": 0.02638913461526626, + "fingertip_max_gap": 0.09071332471473137, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01319456730763313, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1581190256369316, + "object_top_z": 1.2034541314617042, + "finger_top_clearance": 0.045335105824772626, + "fingertip_min_top_clearance": 0.013600531747431787, + "object_projection_between_fingers": 0.8281246666818135, + "object_to_finger_line_xy": 0.009955883033068769, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785666235736569, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4381912919387436, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3408254556605961, + -0.30243472467374843, + 0.8470194338704276 + ], + "target_position": [ + 0.33168856159201976, + -0.30452811824898013, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009373640161709135, + "xy_threshold": 0.08, + "gripper_dist": 0.18785889091432328, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194338704276, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589019114557136, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08648936184753257, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15544736355383906, + "release_required_pad_clearance": 0.05324468092376629, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5091843065521529, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073479413986206055, + "max_z_decrease": 0.0073479413986206055, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035001301945787246, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073479413986206055, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021269094869277343, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073479413986206055, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007347958914819341, + "max_button_displacement": 0.12, + "button_start": [ + 0.18738849461078647, + -0.36078956723213185, + 0.7768088579177856 + ], + "button_final": [ + 0.18738849461078647, + -0.36078956723213185, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18676331246459965, + -0.3606249031089581, + 0.8044565199676149 + ], + "closest_button": [ + 0.18737255036830902, + -0.3607913553714751, + 0.769460916519165 + ], + "closest_ee_minus_button": [ + -0.0006092379037093698, + 0.00016645226251699174, + 0.034995603448449875 + ], + "button_min_z_position": [ + 0.18737255036830902, + -0.3607913553714751, + 0.769460916519165 + ], + "min_active_finger_to_button": 0.1463972931955068, + "closest_active_finger": [ + 0.059919051826000214, + -0.4235304594039917, + 0.8084680438041687 + ], + "closest_active_finger_button": [ + 0.18740132451057434, + -0.3607960641384124, + 0.7731858491897583 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12748227268457413, + -0.06273439526557928, + 0.0352821946144104 + ], + "min_contact_pad_to_button": 0.021269094869277343, + "closest_contact_pad": [ + 0.18737255036830902, + -0.36182132216270857, + 0.79070505841681 + ], + "closest_contact_pad_button": [ + 0.18737255036830902, + -0.3607913553714751, + 0.769460916519165 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001029966791233461, + 0.021244141897645008 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fcbbfcf225c396d67db0927c075678668bb6e8b040ad3b3365fd89ac5c57b3e9", + "visual_seed": 6113538720021605412, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b99e4523d0e16fee3c5174f67d3f485189945bf8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23772356946971562, + 0.02231040661436208, + 1.15911568244811 + ], + "current_z": 1.15911568244811, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3025292346441891, + "gripper_z": 1.152860555151021, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23268602772940847, + 0.01730925198145511, + 1.152860555151021 + ], + "object_minus_gripper": [ + 0.005037541740307155, + 0.005001154632906971, + 0.0062551272970889915 + ], + "object_to_gripper_xy": 0.007098476910407168, + "object_to_gripper_z": 0.0062551272970889915, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23772356946971562, + -0.001656007527048601, + 1.15911568244811 + ], + "finger_b": [ + 0.22637477745569104, + 0.02231040661436208, + 1.15911568244811 + ], + "finger_midpoint": [ + 0.23204917346270332, + 0.01032719954365674, + 1.15911568244811 + ], + "object_minus_finger_midpoint": [ + 0.005674396007012306, + 0.01198320707070534, + 0.0 + ], + "finger_gap": 0.0265176184257787, + "fingertip_max_gap": 0.09079153330791387, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013258809212889355, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.15911568244811, + "object_top_z": 1.204527478415832, + "finger_top_clearance": 0.045411795967722046, + "fingertip_min_top_clearance": 0.013623538790316614, + "object_projection_between_fingers": 0.8168401666601837, + "object_to_finger_line_xy": 0.010256948608493318, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04789576665395694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3265543688573505, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33790204598743623, + -0.3024165204297301, + 0.8470194504469423 + ], + "target_position": [ + 0.3302949388437189, + -0.30369219807784964, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007713328241291617, + "xy_threshold": 0.08, + "gripper_dist": 0.1875138062442884, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194504469423, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589934304347142, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08596926501255019, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1547793520605757, + "release_required_pad_clearance": 0.052984632506275095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0032624190767154, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007310330867767334, + "max_z_decrease": 0.007310330867767334, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035061288312003815, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007310330867767334, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021410222720303143, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007310330867767334, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007310355138381975, + "max_button_displacement": 0.12, + "button_start": [ + 0.18599486351013175, + -0.3599536418914794, + 0.7768088579177856 + ], + "button_final": [ + 0.18599486351013175, + -0.3599536418914794, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18429807734367878, + -0.3613065280910453, + 0.8109743874917004 + ], + "closest_button": [ + 0.1860018223524093, + -0.3599569797515868, + 0.775980532169342 + ], + "closest_ee_minus_button": [ + -0.0017037450087305228, + -0.001349548339458495, + 0.034993855322358325 + ], + "button_min_z_position": [ + 0.1859763860702514, + -0.359957307577133, + 0.7694985270500183 + ], + "min_active_finger_to_button": 0.1478595131063755, + "closest_active_finger": [ + 0.04297050088644028, + -0.34647104144096375, + 0.8081662058830261 + ], + "closest_active_finger_button": [ + 0.18600463867187494, + -0.35996025800704945, + 0.7732132077217102 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14303413778543467, + 0.013489216566085704, + 0.03495299816131592 + ], + "min_contact_pad_to_button": 0.021410222720303143, + "closest_contact_pad": [ + 0.1859763860702514, + -0.3626642037135425, + 0.7907369438987308 + ], + "closest_contact_pad_button": [ + 0.1859763860702514, + -0.359957307577133, + 0.7694985270500183 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002706896136409509, + 0.021238416848712527 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d16dd9a292d8415065405de18cca840ddbff7598979fabdecc91fe174c468820", + "visual_seed": 7648712211543894147, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b78ab2aa35510f1bb901a03e612047f10753a0a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2401879161516016, + 0.019747155385083273, + 1.1602353459124195 + ], + "current_z": 1.1602353459124195, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3036488981084987, + "gripper_z": 1.1534966898177113, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23525155491417235, + 0.015033308693695138, + 1.1534966898177113 + ], + "object_minus_gripper": [ + 0.004936361237429243, + 0.004713846691388135, + 0.006738656094708251 + ], + "object_to_gripper_xy": 0.0068255412163655445, + "object_to_gripper_z": 0.006738656094708251, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2401879161516016, + -0.00439530209861588, + 1.1602353459124195 + ], + "finger_b": [ + 0.22958372401294347, + 0.019747155385083273, + 1.1602353459124195 + ], + "finger_midpoint": [ + 0.23488582008227255, + 0.007675926643233697, + 1.1602353459124195 + ], + "object_minus_finger_midpoint": [ + 0.005302096069329049, + 0.012071228741849576, + 0.0 + ], + "finger_gap": 0.0263686773325057, + "fingertip_max_gap": 0.09035399152050264, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013184338666252845, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1602353459124195, + "object_top_z": 1.2055359905182788, + "finger_top_clearance": 0.04530064460585925, + "fingertip_min_top_clearance": 0.013590193381757742, + "object_projection_between_fingers": 0.8382745066824855, + "object_to_finger_line_xy": 0.009708915416130311, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767699576025132, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.22124661186780414, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33975428706670796, + -0.3081515960830288, + 0.8470196529746709 + ], + "target_position": [ + 0.3321457336437631, + -0.30929186799771347, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00769352358995699, + "xy_threshold": 0.08, + "gripper_dist": 0.18665141252336492, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196529746709, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531480446115364, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08650912587308467, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1554639063344461, + "release_required_pad_clearance": 0.053254562936542335, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5292771465285158, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007670700550079346, + "max_z_decrease": 0.007670700550079346, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035032317608168134, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007670700550079346, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021322293848806708, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007670700550079346, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007670726680836182, + "max_button_displacement": 0.12, + "button_start": [ + 0.18784566223621366, + -0.36555331945419306, + 0.7768088579177856 + ], + "button_final": [ + 0.18784566223621366, + -0.36555331945419306, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18628394215595231, + -0.3659174238828487, + 0.8078130338781715 + ], + "closest_button": [ + 0.1878457963466644, + -0.36556017398834223, + 0.7728173732757568 + ], + "closest_ee_minus_button": [ + -0.0015618541907120864, + -0.0003572498945064728, + 0.03499566060241466 + ], + "button_min_z_position": [ + 0.18782582879066467, + -0.3655560612678528, + 0.7691381573677063 + ], + "min_active_finger_to_button": 0.14785880133590973, + "closest_active_finger": [ + 0.04496099054813385, + -0.35090479254722595, + 0.8080147504806519 + ], + "closest_active_finger_button": [ + 0.1878559589385986, + -0.3655606508255005, + 0.7729653716087341 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14289496839046475, + 0.014655858278274536, + 0.035049378871917725 + ], + "min_contact_pad_to_button": 0.021322293848806708, + "closest_contact_pad": [ + 0.18782582879066467, + -0.36722448698592614, + 0.7903950755497507 + ], + "closest_contact_pad_button": [ + 0.18782582879066467, + -0.3655560612678528, + 0.7691381573677063 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001668425718073352, + 0.02125691818204445 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2a0379ce3feed4addda1db8a84b3586fba8c6cf1c4deaf351435375c38c649ad", + "visual_seed": 8709942776569492023, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd98f4caa0e0b460883102d0eec5c0b9817d57c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24408058932375695, + 0.02074056408576667, + 1.1604568416102374 + ], + "current_z": 1.1604568416102374, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.30387033420167175, + "gripper_z": 1.153657674293607, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2392913589252509, + 0.015918722775071267, + 1.153657674293607 + ], + "object_minus_gripper": [ + 0.004789230398506039, + 0.004821841310695404, + 0.006799167316630328 + ], + "object_to_gripper_xy": 0.006796093100856042, + "object_to_gripper_z": 0.006799167316630328, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24408058932375695, + -0.0030526306064712935, + 1.1604568416102374 + ], + "finger_b": [ + 0.23299091138507336, + 0.02074056408576667, + 1.1604568416102374 + ], + "finger_midpoint": [ + 0.23853575035441515, + 0.008843966739647689, + 1.1604568416102374 + ], + "object_minus_finger_midpoint": [ + 0.005544838969341798, + 0.011896597346118983, + 0.0 + ], + "finger_gap": 0.02625065847643572, + "fingertip_max_gap": 0.09035107960791752, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01312532923821786, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1604568416102374, + "object_top_z": 1.2058073803175593, + "finger_top_clearance": 0.045350538707321864, + "fingertip_min_top_clearance": 0.013605161612196558, + "object_projection_between_fingers": 0.8215331887798533, + "object_to_finger_line_xy": 0.010051514193679053, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047675539803958764, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.12614068175609675, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33343364675776743, + -0.31090840421226207, + 0.8470195623465159 + ], + "target_position": [ + 0.3266467932145821, + -0.311666642630146, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0068290780135390255, + "xy_threshold": 0.08, + "gripper_dist": 0.18680245440329013, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195623465159, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528118143043028, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581223400846615, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15568134755367255, + "release_required_pad_clearance": 0.052906117004233075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8513324049202374, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007451176643371582, + "max_z_decrease": 0.007451176643371582, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506475252734269, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007451176643371582, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021357767395930764, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007451176643371582, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0074511984455706125, + "max_button_displacement": 0.12, + "button_start": [ + 0.18234671652317047, + -0.36792808771133423, + 0.7768088579177856 + ], + "button_final": [ + 0.18234671652317047, + -0.36792808771133423, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18034928056629645, + -0.36894292557738956, + 0.8091629476129928 + ], + "closest_button": [ + 0.18235529959201813, + -0.36793416738510126, + 0.7741701602935791 + ], + "closest_ee_minus_button": [ + -0.0020060190257216726, + -0.0010087581922882949, + 0.03499278731941369 + ], + "button_min_z_position": [ + 0.18232904374599457, + -0.3679316341876983, + 0.7693576812744141 + ], + "min_active_finger_to_button": 0.148180090088044, + "closest_active_finger": [ + 0.03915958106517792, + -0.35264185070991516, + 0.808026134967804 + ], + "closest_active_finger_button": [ + 0.18235506117343903, + -0.3679352402687073, + 0.7731190323829651 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1431954801082611, + 0.015293389558792114, + 0.03490710258483887 + ], + "min_contact_pad_to_button": 0.021357767395930764, + "closest_contact_pad": [ + 0.18232904374599457, + -0.37036262435288964, + 0.7905766472001001 + ], + "closest_contact_pad_button": [ + 0.18232904374599457, + -0.3679316341876983, + 0.7693576812744141 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002430990165191327, + 0.021218965925686062 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "45486baa6ea823298120f737cbd46c1b840e07ffbb38b415ce160b94622755bb", + "visual_seed": 5852847967191774832, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f7097e5e631aff390706628950f81ace0db41b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24010578317643452, + 0.019844556123811422, + 1.1596443814005482 + ], + "current_z": 1.1596443814005482, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.3030578143873377, + "gripper_z": 1.152980446439189, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23525262561243857, + 0.01515868982622956, + 1.152980446439189 + ], + "object_minus_gripper": [ + 0.004853157563995958, + 0.004685866297581862, + 0.006663934961359086 + ], + "object_to_gripper_xy": 0.0067461456625086845, + "object_to_gripper_z": 0.006663934961359086, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24010578317643452, + -0.004283201521958259, + 1.1596443814005482 + ], + "finger_b": [ + 0.22959194724991228, + 0.019844556123811422, + 1.1596443814005482 + ], + "finger_midpoint": [ + 0.23484886521317339, + 0.007780677300926582, + 1.1596443814005482 + ], + "object_minus_finger_midpoint": [ + 0.005256917963261137, + 0.01206387882288484, + 0.0 + ], + "finger_gap": 0.026318993804908788, + "fingertip_max_gap": 0.09066960034420118, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013159496902454399, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1596443814005482, + "object_top_z": 1.2050430470059785, + "finger_top_clearance": 0.04539866560543038, + "fingertip_min_top_clearance": 0.013619599681629112, + "object_projection_between_fingers": 0.840418028166783, + "object_to_finger_line_xy": 0.009638487209765673, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047834800172100594, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.40823347705885893, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33212295728863994, + -0.30575727561089505, + 0.8470211273587861 + ], + "target_position": [ + 0.323604735380063, + -0.3070859330377886, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00862122004369447, + "xy_threshold": 0.08, + "gripper_dist": 0.1891662753277208, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470211273587861, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529890089648486, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08676490572457161, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15781180747827375, + "release_required_pad_clearance": 0.05338245286228581, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7804285867780882, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007600605487823486, + "max_z_decrease": 0.007600605487823486, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509570326498566, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007600605487823486, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021189878691331376, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007600605487823486, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00760062910099205, + "max_button_displacement": 0.12, + "button_start": [ + 0.1793046593666076, + -0.3633473813533783, + 0.7768088579177856 + ], + "button_final": [ + 0.1793046593666076, + -0.3633473813533783, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1799182968328497, + -0.361867436275916, + 0.8042668197042172 + ], + "closest_button": [ + 0.17928647994995114, + -0.3633527159690857, + 0.7692082524299622 + ], + "closest_ee_minus_button": [ + 0.0006318168828985671, + 0.0014852796931696943, + 0.03505856727425505 + ], + "button_min_z_position": [ + 0.17928647994995114, + -0.3633527159690857, + 0.7692082524299622 + ], + "min_active_finger_to_button": 0.1446364440364308, + "closest_active_finger": [ + 0.05384117364883423, + -0.4264276623725891, + 0.8095367550849915 + ], + "closest_active_finger_button": [ + 0.17931200563907618, + -0.3633531928062439, + 0.7749190926551819 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12547083199024195, + -0.06307446956634521, + 0.03461766242980957 + ], + "min_contact_pad_to_button": 0.021189878691331376, + "closest_contact_pad": [ + 0.17928647994995114, + -0.3633527159690857, + 0.7903981311212935 + ], + "closest_contact_pad_button": [ + 0.17928647994995114, + -0.3633527159690857, + 0.7692082524299622 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021189878691331376 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "392cf04b3ca56e50658207fbc7961d6addb786bdd5477bed3ae91cbf58bbd6bd", + "visual_seed": 5198745540591170042, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a6230ecd8726ec41f23992738ca6b534167eedca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2427761050481088, + 0.024671973687039887, + 1.1574553003742645 + ], + "current_z": 1.1574553003742645, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.30086891217498846, + "gripper_z": 1.1507308541634065, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2379156841514322, + 0.01973027292164284, + 1.1507308541634065 + ], + "object_minus_gripper": [ + 0.004860420896676598, + 0.004941700765397048, + 0.006724446210857993 + ], + "object_to_gripper_xy": 0.00693138498047658, + "object_to_gripper_z": 0.006724446210857993, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2427761050481088, + 0.0008927681447413796, + 1.1574553003742645 + ], + "finger_b": [ + 0.23142538733066373, + 0.024671973687039887, + 1.1574553003742645 + ], + "finger_midpoint": [ + 0.23710074618938626, + 0.012782370915890634, + 1.1574553003742645 + ], + "object_minus_finger_midpoint": [ + 0.005675358858722529, + 0.011889602771149253, + 0.0 + ], + "finger_gap": 0.026349372078362725, + "fingertip_max_gap": 0.09052607407339686, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013174686039181363, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1574553003742645, + "object_top_z": 1.2029050814651852, + "finger_top_clearance": 0.04544978109092068, + "fingertip_min_top_clearance": 0.013634934327276204, + "object_projection_between_fingers": 0.8144307099530821, + "object_to_finger_line_xy": 0.010243547696431751, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776303703669843, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2366366699522021, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33920690395543407, + -0.30911959582547477, + 0.8470196015297867 + ], + "target_position": [ + 0.33173573319646804, + -0.3105922975541552, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0076149355145849595, + "xy_threshold": 0.08, + "gripper_dist": 0.18763464164911778, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196015297867, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583954401506923, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513969743653292, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15510866018558792, + "release_required_pad_clearance": 0.05256984871826646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.20558412133673068, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007692456245422363, + "max_z_decrease": 0.007692456245422363, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503206299262369, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007692456245422363, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02128871932099017, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007692456245422363, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007692481303701547, + "max_button_displacement": 0.12, + "button_start": [ + 0.1874356567859649, + -0.3668537437915802, + 0.7768088579177856 + ], + "button_final": [ + 0.1874356567859649, + -0.3668537437915802, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18584225406993696, + -0.3667594980542747, + 0.8077905850675252 + ], + "closest_button": [ + 0.1874352097511291, + -0.3668600916862487, + 0.7727949023246765 + ], + "closest_ee_minus_button": [ + -0.0015929556811921375, + 0.00010059363197401083, + 0.0349956827428487 + ], + "button_min_z_position": [ + 0.18741610646247858, + -0.3668555617332458, + 0.7691164016723633 + ], + "min_active_finger_to_button": 0.14770298259464987, + "closest_active_finger": [ + 0.05886639654636383, + -0.4305822253227234, + 0.8079139590263367 + ], + "closest_active_finger_button": [ + 0.18744641542434687, + -0.36686193943023676, + 0.7729414701461792 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12858001887798304, + -0.06372028589248663, + 0.03497248888015747 + ], + "min_contact_pad_to_button": 0.02128871932099017, + "closest_contact_pad": [ + 0.18741610646247858, + -0.3680857447771469, + 0.7903695477925592 + ], + "closest_contact_pad_button": [ + 0.18741610646247858, + -0.3668555617332458, + 0.7691164016723633 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012301830439011008, + 0.02125314612019591 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d056c3a563f46e76320d2939820f82c502c24d0e997f1302d5613995e4b16b0", + "visual_seed": 931030736407764072, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6bee810a56229caa117d1b09c41c695c15c627fa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23940698248458797, + 0.02001224789265547, + 1.1583814291382923 + ], + "current_z": 1.1583814291382923, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3017949217297268, + "gripper_z": 1.1518043183251554, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23439370628705858, + 0.015077700267186148, + 1.1518043183251554 + ], + "object_minus_gripper": [ + 0.005013276197529393, + 0.004934547625469323, + 0.006577110813136944 + ], + "object_to_gripper_xy": 0.007034393968263343, + "object_to_gripper_z": 0.006577110813136944, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23940698248458797, + -0.0038557791674210234, + 1.1583814291382923 + ], + "finger_b": [ + 0.22806080366825066, + 0.02001224789265547, + 1.1583814291382923 + ], + "finger_midpoint": [ + 0.2337338930764193, + 0.008078234362617225, + 1.1583814291382923 + ], + "object_minus_finger_midpoint": [ + 0.005673089408168658, + 0.011934013530038246, + 0.0 + ], + "finger_gap": 0.02642760847055301, + "fingertip_max_gap": 0.09039950542182923, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013213804235276506, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1583814291382923, + "object_top_z": 1.203740353625746, + "finger_top_clearance": 0.04535892448745371, + "fingertip_min_top_clearance": 0.013607677346236113, + "object_projection_between_fingers": 0.8156753068930503, + "object_to_finger_line_xy": 0.010247272405240796, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04769975271091462, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2438844658716319, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33220709800645576, + -0.30717941469351684, + 0.8470197709426596 + ], + "target_position": [ + 0.32407110422230045, + -0.3087117985198377, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008279045539612857, + "xy_threshold": 0.08, + "gripper_dist": 0.18843417616487948, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197709426596, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580883717537737, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08514417532141975, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.155912284918583, + "release_required_pad_clearance": 0.05257208766070988, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.20935620344994296, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007203638553619385, + "max_z_decrease": 0.007203638553619385, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503673214524281, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007203638553619385, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02143999709494899, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007203638553619385, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007203656269971925, + "max_button_displacement": 0.12, + "button_start": [ + 0.1797710359096527, + -0.36497324705123896, + 0.7768088579177856 + ], + "button_final": [ + 0.1797710359096527, + -0.36497324705123896, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17865350453720866, + -0.3661582203255187, + 0.8082689333898241 + ], + "closest_button": [ + 0.179782897233963, + -0.3649813532829284, + 0.7732701897621155 + ], + "closest_ee_minus_button": [ + -0.0011293926967543555, + -0.0011768670425902905, + 0.034998743627708606 + ], + "button_min_z_position": [ + 0.17975518107414246, + -0.36497521400451655, + 0.7696052193641663 + ], + "min_active_finger_to_button": 0.14736565396177706, + "closest_active_finger": [ + 0.037656158208847046, + -0.34820932149887085, + 0.8084173798561096 + ], + "closest_active_finger_button": [ + 0.179782897233963, + -0.3649813532829284, + 0.7732701897621155 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14212673902511597, + 0.01677203178405756, + 0.03514719009399414 + ], + "min_contact_pad_to_button": 0.02143999709494899, + "closest_contact_pad": [ + 0.17975518107414246, + -0.3678059403863308, + 0.7908575242646405 + ], + "closest_contact_pad_button": [ + 0.17975518107414246, + -0.36497521400451655, + 0.7696052193641663 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028307263818142525, + 0.02125230490047425 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "931a4eb46eb89d396f828d51a89f19dcb2d04e070d2404993719cea919bf1bbe", + "visual_seed": 9161504794390243991, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..52726e1ed47ce3f010f86e2271d4f9d2dcdc64ec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2382512838541166, + 0.018338885610363478, + 1.159633520784386 + ], + "current_z": 1.159633520784386, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30304695377117563, + "gripper_z": 1.1530960408899056, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2332606022008455, + 0.013534259259749368, + 1.1530960408899056 + ], + "object_minus_gripper": [ + 0.004990681653271101, + 0.00480462635061411, + 0.006537479894480391 + ], + "object_to_gripper_xy": 0.00692757805681843, + "object_to_gripper_z": 0.006537479894480391, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2382512838541166, + -0.0056821650481576735, + 1.159633520784386 + ], + "finger_b": [ + 0.2273149960639333, + 0.018338885610363478, + 1.159633520784386 + ], + "finger_midpoint": [ + 0.23278313995902494, + 0.006328360281102902, + 1.159633520784386 + ], + "object_minus_finger_midpoint": [ + 0.005468143895091648, + 0.012010525329260575, + 0.0 + ], + "finger_gap": 0.02639343223927028, + "fingertip_max_gap": 0.09058444526516352, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01319671611963514, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159633520784386, + "object_top_z": 1.204997899584999, + "finger_top_clearance": 0.04536437880061306, + "fingertip_min_top_clearance": 0.013609313640183885, + "object_projection_between_fingers": 0.8283087667497022, + "object_to_finger_line_xy": 0.009953276278834688, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779222263258176, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3003440205885235, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3350282807851723, + -0.3040122682294577, + 0.8470195992348666 + ], + "target_position": [ + 0.32752548953627053, + -0.30493181774833733, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007558931660113692, + "xy_threshold": 0.08, + "gripper_dist": 0.1871717943673849, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195992348666, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752957058732971, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08596831672318338, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1558913170177996, + "release_required_pad_clearance": 0.05298415836159169, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.002481981098565, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007266402244567871, + "max_z_decrease": 0.007266402244567871, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035018261615056584, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007266402244567871, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02142374724780872, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007266402244567871, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007266426510587379, + "max_button_displacement": 0.12, + "button_start": [ + 0.18322540819644928, + -0.3611932694911956, + 0.7768088579177856 + ], + "button_final": [ + 0.18322540819644928, + -0.3611932694911956, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18351490289913483, + -0.36243701825951036, + 0.8073055803331558 + ], + "closest_button": [ + 0.1832142323255539, + -0.36119580268859863, + 0.7723106145858765 + ], + "closest_ee_minus_button": [ + 0.00030067057358093563, + -0.0012412155709117245, + 0.03499496574727934 + ], + "button_min_z_position": [ + 0.18320699036121368, + -0.36119693517684937, + 0.7695424556732178 + ], + "min_active_finger_to_button": 0.14589372526173938, + "closest_active_finger": [ + 0.04237048327922821, + -0.34662941098213196, + 0.8083205819129944 + ], + "closest_active_finger_button": [ + 0.1832352876663208, + -0.36120072007179255, + 0.7732526063919067 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1408648043870926, + 0.014571309089660589, + 0.035067975521087646 + ], + "min_contact_pad_to_button": 0.02142374724780872, + "closest_contact_pad": [ + 0.18320699036121368, + -0.3637725558203714, + 0.7908108153758054 + ], + "closest_contact_pad_button": [ + 0.18320699036121368, + -0.36119693517684937, + 0.7695424556732178 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002575620643522014, + 0.02126835970258767 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8fc9c06319b325a6601749fa69976d6a41e5e5e51d7f32168400b790c714e18c", + "visual_seed": 7806144298983844197, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e6fe5d0107a0b71dc34a7b858ae926d5222d38e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23725498928868297, + 0.018329996060681496, + 1.160276686705767 + ], + "current_z": 1.160276686705767, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3036902389018462, + "gripper_z": 1.1537960866130463, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2323089571685846, + 0.013522980927476141, + 1.1537960866130463 + ], + "object_minus_gripper": [ + 0.004946032120098365, + 0.004807015133205354, + 0.0064806000927206675 + ], + "object_to_gripper_xy": 0.006897146382665081, + "object_to_gripper_z": 0.0064806000927206675, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23725498928868297, + -0.005689665332204853, + 1.160276686705767 + ], + "finger_b": [ + 0.22633545340962913, + 0.018329996060681496, + 1.160276686705767 + ], + "finger_midpoint": [ + 0.23179522134915603, + 0.006320165364238321, + 1.160276686705767 + ], + "object_minus_finger_midpoint": [ + 0.005459767939526933, + 0.012009830696443175, + 0.0 + ], + "finger_gap": 0.026385230664954573, + "fingertip_max_gap": 0.09065399550306633, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013192615332477292, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160276686705767, + "object_top_z": 1.205700635059817, + "finger_top_clearance": 0.04542394835404995, + "fingertip_min_top_clearance": 0.013627184506214984, + "object_projection_between_fingers": 0.8287279212598266, + "object_to_finger_line_xy": 0.009940544303473438, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047826997751533165, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.28183474104351774, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3317316189442703, + -0.30648144839395663, + 0.8470195328944243 + ], + "target_position": [ + 0.32385382579187355, + -0.3077558819342019, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00798021339316505, + "xy_threshold": 0.08, + "gripper_dist": 0.18547446829088976, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195328944243, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524406344647223, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08568286727119122, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15438600193118776, + "release_required_pad_clearance": 0.05284143363559561, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7252331549701547, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0075362324714660645, + "max_z_decrease": 0.0075362324714660645, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035001470191154134, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0075362324714660645, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021340847320438634, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0075362324714660645, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007536252662319743, + "max_button_displacement": 0.12, + "button_start": [ + 0.17955374717712397, + -0.36401733756065363, + 0.7768088579177856 + ], + "button_final": [ + 0.17955374717712397, + -0.36401733756065363, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17886694080089063, + -0.3645704336381433, + 0.8043918339547952 + ], + "closest_button": [ + 0.17953780293464658, + -0.3640193343162536, + 0.7694011330604553 + ], + "closest_ee_minus_button": [ + -0.0006708621337559451, + -0.0005510993218896809, + 0.034990700894339866 + ], + "button_min_z_position": [ + 0.1795364618301391, + -0.36401969194412226, + 0.7692726254463196 + ], + "min_active_finger_to_button": 0.14663771255701363, + "closest_active_finger": [ + 0.03834868222475052, + -0.34619277715682983, + 0.8080844879150391 + ], + "closest_active_finger_button": [ + 0.17956666648387903, + -0.36402553319931025, + 0.7728411555290222 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14121798425912852, + 0.017832756042480413, + 0.035243332386016846 + ], + "min_contact_pad_to_button": 0.021340847320438634, + "closest_contact_pad": [ + 0.1795364618301391, + -0.3659715992128225, + 0.7905240212209191 + ], + "closest_contact_pad_button": [ + 0.1795364618301391, + -0.36401969194412226, + 0.7692726254463196 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019519072687002592, + 0.021251395774599557 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "629703d8105791848b65a944bf354fed841c0c50441bdd56e201e71a2b5719d7", + "visual_seed": 265493593890575779, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ffeeb58dd35b80b12c8b3b3db98727737b478171 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2441543388499789, + 0.024970166133139057, + 1.1602009370501787 + ], + "current_z": 1.1602009370501787, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.30361454885090267, + "gripper_z": 1.1535263194086145, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23913501679919807, + 0.019974003017151923, + 1.1535263194086145 + ], + "object_minus_gripper": [ + 0.005019322050780817, + 0.0049961631159871345, + 0.0066746176415641845 + ], + "object_to_gripper_xy": 0.007082036411301823, + "object_to_gripper_z": 0.0066746176415641845, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2441543388499789, + 0.001066895074775825, + 1.1602009370501787 + ], + "finger_b": [ + 0.23274711332453385, + 0.024970166133139057, + 1.1602009370501787 + ], + "finger_midpoint": [ + 0.23845072608725637, + 0.013018530603957442, + 1.1602009370501787 + ], + "object_minus_finger_midpoint": [ + 0.005703612762722521, + 0.011951635529181616, + 0.0 + ], + "finger_gap": 0.02648567842208219, + "fingertip_max_gap": 0.090360617421373, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013242839211041095, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1602009370501787, + "object_top_z": 1.2055688994082874, + "finger_top_clearance": 0.04536796235810869, + "fingertip_min_top_clearance": 0.013610388707432641, + "object_projection_between_fingers": 0.8145025891499346, + "object_to_finger_line_xy": 0.010294997900875243, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0476803087106865, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.12264504936040127, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3330602675802641, + -0.30691431033595673, + 0.8470194755989604 + ], + "target_position": [ + 0.32586817794220846, + -0.3080016900045117, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007273826221832206, + "xy_threshold": 0.08, + "gripper_dist": 0.1874255713681394, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194755989604, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756841371153637, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855446265272, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15524964653273868, + "release_required_pad_clearance": 0.052772313263600004, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5934708823321331, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007611215114593506, + "max_z_decrease": 0.007611215114593506, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507282499862497, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007611215114593506, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021413657241120362, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007611215114593506, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007611232095459768, + "max_button_displacement": 0.12, + "button_start": [ + 0.1815681010484695, + -0.3642631471157074, + 0.7768088579177856 + ], + "button_final": [ + 0.1815681010484695, + -0.3642631471157074, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17947512612976357, + -0.3652673821800918, + 0.8078024388754217 + ], + "closest_button": [ + 0.18157868087291712, + -0.36427071690559387, + 0.7728069424629211 + ], + "closest_ee_minus_button": [ + -0.002103554743153546, + -0.000996665274497932, + 0.03499549641250055 + ], + "button_min_z_position": [ + 0.18155229091644282, + -0.3642660677433014, + 0.7691976428031921 + ], + "min_active_finger_to_button": 0.14830920625130167, + "closest_active_finger": [ + 0.038373589515686035, + -0.3481507897377014, + 0.8078507781028748 + ], + "closest_active_finger_button": [ + 0.18157868087291712, + -0.36427071690559387, + 0.7728069424629211 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14320509135723108, + 0.016119927167892456, + 0.03504383563995361 + ], + "min_contact_pad_to_button": 0.021413657241120362, + "closest_contact_pad": [ + 0.18155229091644282, + -0.3668386339192691, + 0.7904562085993707 + ], + "closest_contact_pad_button": [ + 0.18155229091644282, + -0.3642660677433014, + 0.7691976428031921 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025725661759676832, + 0.021258565796178575 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ea009d00b613c5338286208daa28551a013dd17fa9e4030061be33473bd83727", + "visual_seed": 3490577518461076254, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d137abe8267230484cf40a0f786258248af8dd2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24369444873624063, + 0.02378792680815126, + 1.1583141144381606 + ], + "current_z": 1.1583141144381606, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.3017276070295952, + "gripper_z": 1.1515878194892197, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23906454256198625, + 0.01912439709068553, + 1.1515878194892197 + ], + "object_minus_gripper": [ + 0.004629906174254378, + 0.004663529717465729, + 0.006726294948940836 + ], + "object_to_gripper_xy": 0.006571494549041701, + "object_to_gripper_z": 0.006726294948940836, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24369444873624063, + -0.00010807393760383402, + 1.1583141144381606 + ], + "finger_b": [ + 0.2331043477539201, + 0.02378792680815126, + 1.1583141144381606 + ], + "finger_midpoint": [ + 0.23839939824508039, + 0.011839926435273712, + 1.1583141144381606 + ], + "object_minus_finger_midpoint": [ + 0.005295050491160247, + 0.011948000372877547, + 0.0 + ], + "finger_gap": 0.026137503523804145, + "fingertip_max_gap": 0.09070536814651131, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013068751761902067, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1583141144381606, + "object_top_z": 1.203750840467651, + "finger_top_clearance": 0.04543672602949034, + "fingertip_min_top_clearance": 0.013631017808847101, + "object_projection_between_fingers": 0.8358382421242964, + "object_to_finger_line_xy": 0.009681913987718203, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785268407325566, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.45273108724009886, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33753400248029397, + -0.306748290661094, + 0.8470195863015565 + ], + "target_position": [ + 0.3307374950195703, + -0.30773522004275256, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0068677902754855375, + "xy_threshold": 0.08, + "gripper_dist": 0.18559009590625042, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195863015565, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567870170938848, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671331196988379, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535276214249087, + "release_required_pad_clearance": 0.053356655984941895, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7295859261727642, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007549405097961426, + "max_z_decrease": 0.007549405097961426, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035022192873698156, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007549405097961426, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021258986433004057, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007549405097961426, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007549430294820824, + "max_button_displacement": 0.12, + "button_start": [ + 0.1864374279975891, + -0.363996684551239, + 0.7768088579177856 + ], + "button_final": [ + 0.1864374279975891, + -0.363996684551239, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1862911647829294, + -0.36259714001584104, + 0.8042533146841447 + ], + "closest_button": [ + 0.18641817569732666, + -0.3639998137950897, + 0.7692594528198242 + ], + "closest_ee_minus_button": [ + -0.00012701091439726309, + 0.0014026737792486865, + 0.03499386186432052 + ], + "button_min_z_position": [ + 0.18641817569732666, + -0.3639998137950897, + 0.7692594528198242 + ], + "min_active_finger_to_button": 0.14541278199804386, + "closest_active_finger": [ + 0.05980139970779419, + -0.42625853419303894, + 0.8080992698669434 + ], + "closest_active_finger_button": [ + 0.18644849956035614, + -0.36400356888771057, + 0.7730320692062378 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12664709985256195, + -0.06225496530532837, + 0.035067200660705566 + ], + "min_contact_pad_to_button": 0.021258986433004057, + "closest_contact_pad": [ + 0.18641817569732666, + -0.3639998137950897, + 0.7905184392528283 + ], + "closest_contact_pad_button": [ + 0.18641817569732666, + -0.3639998137950897, + 0.7692594528198242 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021258986433004057 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "98bf5ccb7aa19572766dc81cd21eaf293ec51d781266a74f2a0d898f11082531", + "visual_seed": 4166037261646872741, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a61e0f5d312274591103d24bf7f4f45b2b7a184d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2414340019176534, + 0.016007616122882574, + 1.1599108789205532 + ], + "current_z": 1.1599108789205532, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3033243119073429, + "gripper_z": 1.153431892927192, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23647318293111663, + 0.011030112394912778, + 1.153431892927192 + ], + "object_minus_gripper": [ + 0.004960818986536775, + 0.004977503727969797, + 0.006478985993361164 + ], + "object_to_gripper_xy": 0.007027465288362297, + "object_to_gripper_z": 0.006478985993361164, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2414340019176534, + -0.007906608392081795, + 1.1599108789205532 + ], + "finger_b": [ + 0.23011915489402718, + 0.016007616122882574, + 1.1599108789205532 + ], + "finger_midpoint": [ + 0.2357765784058403, + 0.00405050386540039, + 1.1599108789205532 + ], + "object_minus_finger_midpoint": [ + 0.005657423511813114, + 0.011957112257482184, + 0.0 + ], + "finger_gap": 0.02645592367165029, + "fingertip_max_gap": 0.09080174509757996, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013227961835825145, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1599108789205532, + "object_top_z": 1.2053498374881064, + "finger_top_clearance": 0.0454389585675532, + "fingertip_min_top_clearance": 0.01363168757026596, + "object_projection_between_fingers": 0.8170840758750529, + "object_to_finger_line_xy": 0.010227796066913706, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04790087254878998, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3198843622752858, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33489745012690775, + -0.306576486848147, + 0.8470199198771104 + ], + "target_position": [ + 0.32801744424025636, + -0.3072882297027248, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006916723132481182, + "xy_threshold": 0.08, + "gripper_dist": 0.18541273221231597, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199198771104, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517326664049707, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599167813727358, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1544870413755181, + "release_required_pad_clearance": 0.052995839068636794, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0225786061942566, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007563173770904541, + "max_z_decrease": 0.007563173770904541, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508551649500815, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007563173770904541, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02124901079390766, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007563173770904541, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007563194290124686, + "max_button_displacement": 0.12, + "button_start": [ + 0.18371737003326416, + -0.36354967951774597, + 0.7768088579177856 + ], + "button_final": [ + 0.18371737003326416, + -0.36354967951774597, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18155522755600195, + -0.3623335104505667, + 0.8046939624567447 + ], + "closest_button": [ + 0.1837014555931091, + -0.3635515868663788, + 0.7696953415870667 + ], + "closest_ee_minus_button": [ + -0.0021462280371071507, + 0.0012180764158120638, + 0.03499862086967809 + ], + "button_min_z_position": [ + 0.18369989097118375, + -0.36355188488960266, + 0.7692456841468811 + ], + "min_active_finger_to_button": 0.14739785585471604, + "closest_active_finger": [ + 0.05381130427122116, + -0.4235598146915436, + 0.8081209063529968 + ], + "closest_active_finger_button": [ + 0.18373149633407587, + -0.36355671286582947, + 0.7728151082992554 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1299201920628547, + -0.06000310182571411, + 0.035305798053741455 + ], + "min_contact_pad_to_button": 0.02124901079390766, + "closest_contact_pad": [ + 0.18369989097118375, + -0.36372902716819255, + 0.7904939565550733 + ], + "closest_contact_pad_button": [ + 0.18369989097118375, + -0.36355188488960266, + 0.7692456841468811 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001771422785898924, + 0.02124827240819216 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b97b1e724c1c46ee9c70f0752b4b0c93720e594e7557222a1cad2595fe827d23", + "visual_seed": 7169385734103160921, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e4d67dd7aa131151a93f41be721fc7cc9d8c99bf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24486684369699566, + 0.01909666099617545, + 1.1597854473454852 + ], + "current_z": 1.1597854473454852, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3031989399369196, + "gripper_z": 1.1530935879093076, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24004664729644262, + 0.014351491518379014, + 1.1530935879093076 + ], + "object_minus_gripper": [ + 0.004820196400553034, + 0.004745169477796435, + 0.006691859436177561 + ], + "object_to_gripper_xy": 0.006763943133477344, + "object_to_gripper_z": 0.006691859436177561, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24486684369699566, + -0.004896209434011698, + 1.1597854473454852 + ], + "finger_b": [ + 0.23411898210379503, + 0.01909666099617545, + 1.1597854473454852 + ], + "finger_midpoint": [ + 0.23949291290039534, + 0.007100225781081875, + 1.1597854473454852 + ], + "object_minus_finger_midpoint": [ + 0.0053739307966003125, + 0.011996435215093575, + 0.0 + ], + "finger_gap": 0.026290195136330692, + "fingertip_max_gap": 0.09054630289010906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013145097568165346, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597854473454852, + "object_top_z": 1.2052086053981392, + "finger_top_clearance": 0.04542315805265407, + "fingertip_min_top_clearance": 0.013626947415796219, + "object_projection_between_fingers": 0.8328691926948835, + "object_to_finger_line_xy": 0.0098086776940994, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047773151445054535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.28049435434768105, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3359154808365158, + -0.3049169242437769, + 0.8470196249655098 + ], + "target_position": [ + 0.32839464798890733, + -0.30621973431327865, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007632839628792255, + "xy_threshold": 0.08, + "gripper_dist": 0.18624938730202417, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196249655098, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564299294665525, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08568717508943634, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15437393433008448, + "release_required_pad_clearance": 0.05284358754471817, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7306099646781945, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0075438618659973145, + "max_z_decrease": 0.0075438618659973145, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504721268354913, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0075438618659973145, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02126294672828548, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0075438618659973145, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007543881518176808, + "max_button_displacement": 0.12, + "button_start": [ + 0.1840945780277252, + -0.36248120665550226, + 0.7768088579177856 + ], + "button_final": [ + 0.1840945780277252, + -0.36248120665550226, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18236333679148217, + -0.3618888300261154, + 0.8045876817818317 + ], + "closest_button": [ + 0.184078574180603, + -0.36248341202735895, + 0.769587516784668 + ], + "closest_ee_minus_button": [ + -0.0017152373891208272, + 0.000594582001243571, + 0.03500016499716374 + ], + "button_min_z_position": [ + 0.18407754600048062, + -0.3624837398529052, + 0.7692649960517883 + ], + "min_active_finger_to_button": 0.1472584575348132, + "closest_active_finger": [ + 0.05471377074718475, + -0.42326438426971436, + 0.8081789612770081 + ], + "closest_active_finger_button": [ + 0.1841083467006683, + -0.3624882996082306, + 0.7728467583656311 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12939457595348355, + -0.060776084661483765, + 0.03533220291137695 + ], + "min_contact_pad_to_button": 0.02126294672828548, + "closest_contact_pad": [ + 0.18407754600048062, + -0.36326247557532243, + 0.7905136777578269 + ], + "closest_contact_pad_button": [ + 0.18407754600048062, + -0.3624837398529052, + 0.7692649960517883 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000778735722417212, + 0.021248681706038552 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0e3bec9461ea17ff17c61b90af4e3bf67895611fd32138f603d850044906e5ab", + "visual_seed": 5557807520046788070, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7a75967376ec0e2dbf84f055dae89010b7ed323b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23937889895678613, + 0.021324974582534025, + 1.15960487857937 + ], + "current_z": 1.15960487857937, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.3030183711708043, + "gripper_z": 1.153042053151405, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23434281662373158, + 0.016554260412283264, + 1.153042053151405 + ], + "object_minus_gripper": [ + 0.0050360823330545534, + 0.00477071417025076, + 0.006562825427965047 + ], + "object_to_gripper_xy": 0.006936990627032416, + "object_to_gripper_z": 0.006562825427965047, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23937889895678613, + -0.002908793336032623, + 1.15960487857937 + ], + "finger_b": [ + 0.22871555941770416, + 0.021324974582534025, + 1.15960487857937 + ], + "finger_midpoint": [ + 0.23404722918724513, + 0.009208090623250701, + 1.15960487857937 + ], + "object_minus_finger_midpoint": [ + 0.005331669769540998, + 0.012116883959283323, + 0.0 + ], + "finger_gap": 0.026476070661197042, + "fingertip_max_gap": 0.09071093474747968, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013238035330598526, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.15960487857937, + "object_top_z": 1.2050476933991825, + "finger_top_clearance": 0.045442814819812494, + "fingertip_min_top_clearance": 0.013632844445943747, + "object_projection_between_fingers": 0.8377893318252916, + "object_to_finger_line_xy": 0.009760243464137378, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785546737373984, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3806855716367903, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3342540663805934, + -0.30514706316824053, + 0.847019796614776 + ], + "target_position": [ + 0.3255641791871429, + -0.30687098642326566, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008859235340824353, + "xy_threshold": 0.08, + "gripper_dist": 0.18912428006451734, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019796614776, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569552969738738, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08616978926865436, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15687972128859878, + "release_required_pad_clearance": 0.05308489463432718, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1974498972373595, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007577776908874512, + "max_z_decrease": 0.007577776908874512, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500194139338743, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007577776908874512, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021296035247349056, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007577776908874512, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007577803612865399, + "max_button_displacement": 0.12, + "button_start": [ + 0.1812641024589538, + -0.3631324470043182, + 0.7768088579177856 + ], + "button_final": [ + 0.1812641024589538, + -0.3631324470043182, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18058140525593055, + -0.3630130018658918, + 0.8067580345776909 + ], + "closest_button": [ + 0.1812518537044525, + -0.3631353378295898, + 0.7717627286911011 + ], + "closest_ee_minus_button": [ + -0.000670448448521932, + 0.00012233596369798372, + 0.034995305886589834 + ], + "button_min_z_position": [ + 0.18124437332153318, + -0.36313638091087336, + 0.7692310810089111 + ], + "min_active_finger_to_button": 0.14676717405998352, + "closest_active_finger": [ + 0.05321706831455231, + -0.4257640540599823, + 0.8077402114868164 + ], + "closest_active_finger_button": [ + 0.18127636611461634, + -0.36313822865486134, + 0.7728199362754822 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12805929780006403, + -0.06262582540512096, + 0.03492027521133423 + ], + "min_contact_pad_to_button": 0.021296035247349056, + "closest_contact_pad": [ + 0.18124437332153318, + -0.3643813217537197, + 0.7904906962348306 + ], + "closest_contact_pad_button": [ + 0.18124437332153318, + -0.36313638091087336, + 0.7692310810089111 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012449408428463205, + 0.02125961522591946 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09ef21002f4d85425e647d02b51e223be947789072dd7f54ebcf9c6834112110", + "visual_seed": 1828545077099259488, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..97ef9c90474816d1eca77219f8e5b799382aac15 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2435677264271077, + 0.020768286646612212, + 1.1572272553882466 + ], + "current_z": 1.1572272553882466, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.300640747979681, + "gripper_z": 1.1505464086448483, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23853790518748064, + 0.01597263169748138, + 1.1505464086448483 + ], + "object_minus_gripper": [ + 0.005029821239627058, + 0.004795654949130833, + 0.006680846743398305 + ], + "object_to_gripper_xy": 0.0069496336661529524, + "object_to_gripper_z": 0.006680846743398305, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2435677264271077, + -0.003328410684384075, + 1.1572272553882466 + ], + "finger_b": [ + 0.2327009436110057, + 0.020768286646612212, + 1.1572272553882466 + ], + "finger_midpoint": [ + 0.2381343350190567, + 0.008719937981114069, + 1.1572272553882466 + ], + "object_minus_finger_midpoint": [ + 0.0054333914080509915, + 0.012048348665498143, + 0.0 + ], + "finger_gap": 0.02643364884071007, + "fingertip_max_gap": 0.0905325825014476, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013216824420355036, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1572272553882466, + "object_top_z": 1.2025274851856222, + "finger_top_clearance": 0.04530022979737569, + "fingertip_min_top_clearance": 0.013590068939212706, + "object_projection_between_fingers": 0.8309995962897793, + "object_to_finger_line_xy": 0.00990607002685169, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047766291250723805, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.35487938184365386, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3366278713341174, + -0.3043390999052271, + 0.8470196850985994 + ], + "target_position": [ + 0.3282042159590858, + -0.30596027510703566, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008578238683567772, + "xy_threshold": 0.08, + "gripper_dist": 0.18784686007771317, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196850985994, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529449931899515, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851216930834665, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1566869087030202, + "release_required_pad_clearance": 0.05256084654173325, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18556422069087408, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074288249015808105, + "max_z_decrease": 0.0074288249015808105, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350433414825497, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074288249015808105, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02143323501956106, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074288249015808105, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007428852451566138, + "max_button_displacement": 0.12, + "button_start": [ + 0.18390414118766787, + -0.362221747636795, + 0.7768088579177856 + ], + "button_final": [ + 0.18390414118766787, + -0.362221747636795, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18485622225628462, + -0.3637469483500041, + 0.8047412176450208 + ], + "closest_button": [ + 0.18388906121253967, + -0.3622269630432128, + 0.7697442173957825 + ], + "closest_ee_minus_button": [ + 0.0009671610437449463, + -0.001519985306791316, + 0.03499700024923835 + ], + "button_min_z_position": [ + 0.18388427793979645, + -0.362225592136383, + 0.7693800330162048 + ], + "min_active_finger_to_button": 0.1448896166893037, + "closest_active_finger": [ + 0.044023968279361725, + -0.3483046293258667, + 0.8082106709480286 + ], + "closest_active_finger_button": [ + 0.18391576409339908, + -0.36222761869430536, + 0.7731473445892334 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13989179581403735, + 0.013922989368438665, + 0.035063326358795166 + ], + "min_contact_pad_to_button": 0.02143323501956106, + "closest_contact_pad": [ + 0.18388427793979645, + -0.36487001692035, + 0.7906495083497828 + ], + "closest_contact_pad_button": [ + 0.18388427793979645, + -0.362225592136383, + 0.7693800330162048 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002644424783966981, + 0.021269475333577925 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc0b843144c1d151473d5192880372573fdd348fd6bc075c925181beb81cf78a", + "visual_seed": 2262483068308937955, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..87fab8150d461de2ed155053f12f3206be404f80 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23884144244292824, + 0.02021078995373354, + 1.1589572562614585 + ], + "current_z": 1.1589572562614585, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30237074885289295, + "gripper_z": 1.1526343201577747, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23371259113915774, + 0.015126493989919915, + 1.1526343201577747 + ], + "object_minus_gripper": [ + 0.005128851303770499, + 0.005084295963813625, + 0.0063229361036838405 + ], + "object_to_gripper_xy": 0.0072218544117034, + "object_to_gripper_z": 0.0063229361036838405, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23884144244292824, + -0.0036735861632241594, + 1.1589572562614585 + ], + "finger_b": [ + 0.22720234592640787, + 0.02021078995373354, + 1.1589572562614585 + ], + "finger_midpoint": [ + 0.23302189418466807, + 0.00826860189525469, + 1.1589572562614585 + ], + "object_minus_finger_midpoint": [ + 0.005819548258260171, + 0.01194218805847885, + 0.0 + ], + "finger_gap": 0.02656938068937957, + "fingertip_max_gap": 0.0905187335308272, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013284690344689778, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1589572562614585, + "object_top_z": 1.2043700651521458, + "finger_top_clearance": 0.04541280889068733, + "fingertip_min_top_clearance": 0.013623842667206199, + "object_projection_between_fingers": 0.8080996900576776, + "object_to_finger_line_xy": 0.010462891932338673, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047759366765413605, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.18665197699050137, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3376022493075881, + -0.30929598429557176, + 0.8470195192497625 + ], + "target_position": [ + 0.3297341311991085, + -0.31041484538442277, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007947272029138638, + "xy_threshold": 0.08, + "gripper_dist": 0.1885536983853076, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195192497625, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521107883190195, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08633121352871519, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15754984182282333, + "release_required_pad_clearance": 0.053165606764357595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3544842423964583, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007553577423095703, + "max_z_decrease": 0.007553577423095703, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350012603394638, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007553577423095703, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021309551279027006, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007553577423095703, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007553595495705826, + "max_button_displacement": 0.12, + "button_start": [ + 0.18543405830860143, + -0.36667630076408386, + 0.7768088579177856 + ], + "button_final": [ + 0.18543405830860143, + -0.36667630076408386, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18555493498034367, + -0.3671533291376158, + 0.8042530292672747 + ], + "closest_button": [ + 0.18541754782199865, + -0.3666769564151764, + 0.7692552804946899 + ], + "closest_ee_minus_button": [ + 0.00013738715834502035, + -0.0004763727224393888, + 0.03499774877258477 + ], + "button_min_z_position": [ + 0.18541754782199865, + -0.3666769564151764, + 0.7692552804946899 + ], + "min_active_finger_to_button": 0.14587336880755336, + "closest_active_finger": [ + 0.044929854571819305, + -0.34995537996292114, + 0.8084602952003479 + ], + "closest_active_finger_button": [ + 0.18544788658618933, + -0.3666832447052002, + 0.7730498313903809 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14051803201437002, + 0.016727864742279053, + 0.03541046380996704 + ], + "min_contact_pad_to_button": 0.021309551279027006, + "closest_contact_pad": [ + 0.18541754782199865, + -0.36844250514907007, + 0.7904915657956019 + ], + "closest_contact_pad_button": [ + 0.18541754782199865, + -0.3666769564151764, + 0.7692552804946899 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017655487338936737, + 0.021236285300911928 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4ae1de5850d2aa694e510481163e674c571ba5fd081205f6d3d6ab3ae31bb5de", + "visual_seed": 7676743818963893058, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e3aeed19641e553b1d482be0d898653c930a468d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2414831647385371, + 0.027107555333946792, + 1.160801173803515 + ], + "current_z": 1.160801173803515, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.3042147856042391, + "gripper_z": 1.1541057818528582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23672383373223752, + 0.022345531935868815, + 1.1541057818528582 + ], + "object_minus_gripper": [ + 0.0047593310062995775, + 0.0047620233980779775, + 0.006695391950656937 + ], + "object_to_gripper_xy": 0.006732614534589566, + "object_to_gripper_z": 0.006695391950656937, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2414831647385371, + 0.0032173607159237767, + 1.160801173803515 + ], + "finger_b": [ + 0.23063016125993807, + 0.027107555333946792, + 1.160801173803515 + ], + "finger_midpoint": [ + 0.23605666299923758, + 0.015162458024935285, + 1.160801173803515 + ], + "object_minus_finger_midpoint": [ + 0.005426501739299511, + 0.011945097309011507, + 0.0 + ], + "finger_gap": 0.026239837716599893, + "fingertip_max_gap": 0.09057741600684127, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013119918858299946, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160801173803515, + "object_top_z": 1.2062328349547835, + "finger_top_clearance": 0.0454316611512684, + "fingertip_min_top_clearance": 0.013629498345380553, + "object_projection_between_fingers": 0.8289285269898089, + "object_to_finger_line_xy": 0.009881172593143943, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778870800342064, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30632194082180764, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33575559730047133, + -0.30256178131229866, + 0.8470187756332854 + ], + "target_position": [ + 0.3285703678454027, + -0.3036282948071751, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007263950258415813, + "xy_threshold": 0.08, + "gripper_dist": 0.1874684753327265, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470187756332854, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569988590232432, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523509105121084, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1552637047549184, + "release_required_pad_clearance": 0.05261754552560542, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.29341073574771365, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007571518421173096, + "max_z_decrease": 0.007571518421173096, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035058140754470404, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007571518421173096, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02120801439458131, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007571518421173096, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007571536839473449, + "max_button_displacement": 0.12, + "button_start": [ + 0.18427029252052307, + -0.35988974571228016, + 0.7768088579177856 + ], + "button_final": [ + 0.18427029252052307, + -0.35988974571228016, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18334646708372038, + -0.35837771865539336, + 0.8073748265760091 + ], + "closest_button": [ + 0.18425960838794708, + -0.3598954081535338, + 0.7723614573478699 + ], + "closest_ee_minus_button": [ + -0.0009131413042267056, + 0.001517689498140462, + 0.035013369228139246 + ], + "button_min_z_position": [ + 0.1842544972896576, + -0.3598951697349547, + 0.7692373394966125 + ], + "min_active_finger_to_button": 0.1464056031702113, + "closest_active_finger": [ + 0.05693932622671127, + -0.4232414960861206, + 0.8075470328330994 + ], + "closest_active_finger_button": [ + 0.1842793971300125, + -0.3598960041999816, + 0.7728129625320435 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12734007090330124, + -0.06334549188613903, + 0.03473407030105591 + ], + "min_contact_pad_to_button": 0.02120801439458131, + "closest_contact_pad": [ + 0.1842544972896576, + -0.3598951697349547, + 0.7904453538911939 + ], + "closest_contact_pad_button": [ + 0.1842544972896576, + -0.3598951697349547, + 0.7692373394966125 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02120801439458131 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "85756a73922024a5707ef0df8abe7ec37e2917a9124cb129e2b953fc85dcd8a8", + "visual_seed": 2348626474875009908, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..22057308e0910bd0174ab54795a20412fbc030e9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23652783556668414, + 0.01996221163538447, + 1.1597190197670473 + ], + "current_z": 1.1597190197670473, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30313245275383693, + "gripper_z": 1.1531312829243145, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23152230768395235, + 0.015246968622652513, + 1.1531312829243145 + ], + "object_minus_gripper": [ + 0.005005527882731786, + 0.004715243012731959, + 0.006587736842732728 + ], + "object_to_gripper_xy": 0.006876687142361714, + "object_to_gripper_z": 0.006587736842732728, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23652783556668414, + -0.004187117828318165, + 1.1597190197670473 + ], + "finger_b": [ + 0.2258744435015776, + 0.01996221163538447, + 1.1597190197670473 + ], + "finger_midpoint": [ + 0.23120113953413085, + 0.007887546903533153, + 1.1597190197670473 + ], + "object_minus_finger_midpoint": [ + 0.005326696032553285, + 0.012074664731851318, + 0.0 + ], + "finger_gap": 0.026394788804597988, + "fingertip_max_gap": 0.09073040956986533, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013197394402298999, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597190197670473, + "object_top_z": 1.205036647101232, + "finger_top_clearance": 0.04531762733418465, + "fingertip_min_top_clearance": 0.013595288200255429, + "object_projection_between_fingers": 0.8370931157023312, + "object_to_finger_line_xy": 0.009747085941503576, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786520478493267, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.48219510031424556, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33759249959599513, + -0.3079883940572317, + 0.8470195432860932 + ], + "target_position": [ + 0.3288718785807108, + -0.3096619234142755, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008879748386137178, + "xy_threshold": 0.08, + "gripper_dist": 0.18842242372484383, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195432860932, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540500456579351, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548094739674282, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15701631500718352, + "release_required_pad_clearance": 0.05274047369837141, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5322888242925962, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074388980865478516, + "max_z_decrease": 0.0074388980865478516, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035071165850207, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074388980865478516, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021346762602002647, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074388980865478516, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00743891860404749, + "max_button_displacement": 0.12, + "button_start": [ + 0.18457180261611933, + -0.3659233748912811, + 0.7768088579177856 + ], + "button_final": [ + 0.18457180261611933, + -0.3659233748912811, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18237273426685144, + -0.36642636507818915, + 0.8081208361415076 + ], + "closest_button": [ + 0.1845825314521789, + -0.3659321665763855, + 0.7731228470802307 + ], + "closest_ee_minus_button": [ + -0.002209797185327461, + -0.0004941985018036554, + 0.034997989061276935 + ], + "button_min_z_position": [ + 0.18455456197261805, + -0.36592620611190796, + 0.7693699598312378 + ], + "min_active_finger_to_button": 0.14848183559997533, + "closest_active_finger": [ + 0.04120016098022461, + -0.3499125838279724, + 0.808218777179718 + ], + "closest_active_finger_button": [ + 0.1845825314521789, + -0.3659321665763855, + 0.7731228470802307 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1433823704719543, + 0.016019582748413086, + 0.035095930099487305 + ], + "min_contact_pad_to_button": 0.021346762602002647, + "closest_contact_pad": [ + 0.18455456197261805, + -0.3679217993094013, + 0.7906232391400028 + ], + "closest_contact_pad_button": [ + 0.18455456197261805, + -0.36592620611190796, + 0.7693699598312378 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001995593197493317, + 0.021253279308764972 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69031ad07fa719424fb163543e3fb11f3bc7113d9921abdbef1207d7b7a586f8", + "visual_seed": 2228671406813797141, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eaafb343726993c69cfb3d070cceefa94ca6bc09 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23793287373316974, + 0.026013480375242527, + 1.158736877464119 + ], + "current_z": 1.158736877464119, + "required_z": 0.8565863881992758, + "initial_z": 0.7565863881992758, + "lift_margin": 0.3021504892648431, + "gripper_z": 1.15208284250117, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23287268353690369, + 0.0212118705313821, + 1.15208284250117 + ], + "object_minus_gripper": [ + 0.005060190196266051, + 0.004801609843860428, + 0.006654034962948918 + ], + "object_to_gripper_xy": 0.006975742391677349, + "object_to_gripper_z": 0.006654034962948918, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23793287373316974, + 0.0019240403443561407, + 1.158736877464119 + ], + "finger_b": [ + 0.22702473420201877, + 0.026013480375242527, + 1.158736877464119 + ], + "finger_midpoint": [ + 0.23247880396759424, + 0.013968760359799333, + 1.158736877464119 + ], + "object_minus_finger_midpoint": [ + 0.005454069765575498, + 0.012044720015443194, + 0.0 + ], + "finger_gap": 0.02644406604576403, + "fingertip_max_gap": 0.09045152403219647, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01322203302288202, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158736877464119, + "object_top_z": 1.2040384395332195, + "finger_top_clearance": 0.04530156206910063, + "fingertip_min_top_clearance": 0.013590468620730189, + "object_projection_between_fingers": 0.8298449265568004, + "object_to_finger_line_xy": 0.00993685965802127, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772576201609824, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.27396985441378674, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33976877529878435, + -0.30917270444160305, + 0.8470195597589896 + ], + "target_position": [ + 0.33003252303562924, + -0.3113168575062765, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009969553675894504, + "xy_threshold": 0.08, + "gripper_dist": 0.1862474805494668, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195597589896, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554395077777763, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08588554107539491, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15458403100406465, + "release_required_pad_clearance": 0.052942770537697456, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9219529026413851, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007702350616455078, + "max_z_decrease": 0.007702350616455078, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507171208016337, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007702350616455078, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02142504681547474, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007702350616455078, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00770237665367471, + "max_button_displacement": 0.12, + "button_start": [ + 0.18573245406150815, + -0.36757832765579224, + 0.7768088579177856 + ], + "button_final": [ + 0.18573245406150815, + -0.36757832765579224, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18381263414649585, + -0.3688577812151235, + 0.8095143884382604 + ], + "closest_button": [ + 0.1857398152351379, + -0.3675854206085205, + 0.7745187878608704 + ], + "closest_ee_minus_button": [ + -0.001927181088642066, + -0.001272360606603018, + 0.03499560057739004 + ], + "button_min_z_position": [ + 0.18571250140666962, + -0.3675800561904907, + 0.7691065073013306 + ], + "min_active_finger_to_button": 0.14810151493491266, + "closest_active_finger": [ + 0.04259549081325531, + -0.35294023156166077, + 0.8079776763916016 + ], + "closest_active_finger_button": [ + 0.18574264645576474, + -0.36758676171302795, + 0.7729287147521973 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14314715564250943, + 0.014646530151367188, + 0.0350489616394043 + ], + "min_contact_pad_to_button": 0.02142504681547474, + "closest_contact_pad": [ + 0.18571250140666962, + -0.3702871150638905, + 0.7903598473518081 + ], + "closest_contact_pad_button": [ + 0.18571250140666962, + -0.3675800561904907, + 0.7691065073013306 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027070588733997814, + 0.02125334005047752 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e46b8e2ca433368037cdaa9ccdce0b05bacc995cbb5331dc50d586a153a15053", + "visual_seed": 1579647647287900969, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e3fb86809782ccbbe956e5f61a5878f8972cd4cb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23586918456563064, + 0.020634172987729203, + 1.1570397408259783 + ], + "current_z": 1.1570397408259783, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3004532334174127, + "gripper_z": 1.1507801709780339, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23083032933428344, + 0.015599040003174747, + 1.1507801709780339 + ], + "object_minus_gripper": [ + 0.0050388552313472, + 0.0050351329845544565, + 0.006259569847944402 + ], + "object_to_gripper_xy": 0.007123385867312209, + "object_to_gripper_z": 0.006259569847944402, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23586918456563064, + -0.0032379871652001603, + 1.1570397408259783 + ], + "finger_b": [ + 0.22434673243327105, + 0.020634172987729203, + 1.1570397408259783 + ], + "finger_midpoint": [ + 0.23010795849945084, + 0.008698092911264521, + 1.1570397408259783 + ], + "object_minus_finger_midpoint": [ + 0.005761226066179792, + 0.011936080076464682, + 0.0 + ], + "finger_gap": 0.026507488253503506, + "fingertip_max_gap": 0.09062701233739992, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013253744126751753, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1570397408259783, + "object_top_z": 1.2024377520338807, + "finger_top_clearance": 0.04539801120790243, + "fingertip_min_top_clearance": 0.01361940336237073, + "object_projection_between_fingers": 0.811047487990355, + "object_to_finger_line_xy": 0.010376910102819515, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781350616869996, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23667248597680604, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33457619257300497, + -0.3029257750216685, + 0.8470195682508452 + ], + "target_position": [ + 0.32748653053625093, + -0.30370327425834953, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007132167472685356, + "xy_threshold": 0.08, + "gripper_dist": 0.18622549541178024, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195682508452, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753274083593909, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599677877000277, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15492809401056776, + "release_required_pad_clearance": 0.052998389385001385, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0302057924901682, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007499992847442627, + "max_z_decrease": 0.007499992847442627, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035027460745746086, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007499992847442627, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021238485043479388, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007499992847442627, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007500010652766054, + "max_button_displacement": 0.12, + "button_start": [ + 0.18318645656108845, + -0.3599647283554077, + 0.7768088579177856 + ], + "button_final": [ + 0.18318645656108845, + -0.3599647283554077, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1830472249929689, + -0.358742398635229, + 0.8043147081095976 + ], + "closest_button": [ + 0.18317022919654835, + -0.35996666550636297, + 0.769308865070343 + ], + "closest_ee_minus_button": [ + -0.00012300420357944097, + 0.0012242668711339721, + 0.03500584303925458 + ], + "button_min_z_position": [ + 0.18317022919654835, + -0.35996666550636297, + 0.769308865070343 + ], + "min_active_finger_to_button": 0.14557095260883388, + "closest_active_finger": [ + 0.05530708283185959, + -0.41976311802864075, + 0.8084394335746765 + ], + "closest_active_finger_button": [ + 0.18320105969905842, + -0.3599706292152405, + 0.7729585766792297 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12789397686719883, + -0.05979248881340027, + 0.03548085689544678 + ], + "min_contact_pad_to_button": 0.021238485043479388, + "closest_contact_pad": [ + 0.18317022919654835, + -0.3601248944977609, + 0.7905467606941655 + ], + "closest_contact_pad_button": [ + 0.18317022919654835, + -0.35996666550636297, + 0.769308865070343 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00015822899139794622, + 0.0212378956238225 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c74cd196f2463316cdb4bf8deac150925391d225c917a42300dc91978c3a0258", + "visual_seed": 835247283244310200, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5834993de05f3af7a411be598aff977d142d93aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23654579960604638, + 0.020122414183461335, + 1.1574898895190273 + ], + "current_z": 1.1574898895190273, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.30090338211046164, + "gripper_z": 1.1512204711260763, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23154422202560213, + 0.015149131773908989, + 1.1512204711260763 + ], + "object_minus_gripper": [ + 0.005001577580444255, + 0.004973282409552346, + 0.006269418392951032 + ], + "object_to_gripper_xy": 0.007053319517671477, + "object_to_gripper_z": 0.006269418392951032, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23654579960604638, + -0.0037532630187002256, + 1.1574898895190273 + ], + "finger_b": [ + 0.22515038021605463, + 0.020122414183461335, + 1.1574898895190273 + ], + "finger_midpoint": [ + 0.2308480899110505, + 0.008184575582380555, + 1.1574898895190273 + ], + "object_minus_finger_midpoint": [ + 0.005697709694995889, + 0.01193783860108078, + 0.0 + ], + "finger_gap": 0.026455690218469396, + "fingertip_max_gap": 0.09077567519486951, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013227845109234703, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1574898895190273, + "object_top_z": 1.2028896998496756, + "finger_top_clearance": 0.04539981033064833, + "fingertip_min_top_clearance": 0.013619943099194497, + "object_projection_between_fingers": 0.8144664589665064, + "object_to_finger_line_xy": 0.010284114785587951, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04788783759743476, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3695546657861652, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33763467876246234, + -0.3105664935782571, + 0.8470195615714292 + ], + "target_position": [ + 0.3304152991776925, + -0.3117642200546749, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0073180591895189925, + "xy_threshold": 0.08, + "gripper_dist": 0.1860302449481068, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195615714292, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589030707320589, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08618025787258853, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15335920168665435, + "release_required_pad_clearance": 0.053090128936294265, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2078628494119212, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007692098617553711, + "max_z_decrease": 0.007692098617553711, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504968313361645, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007692098617553711, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021450622953018285, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007692098617553711, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007692116690395072, + "max_button_displacement": 0.12, + "button_start": [ + 0.1861152201890945, + -0.36802569031715393, + 0.7768088579177856 + ], + "button_final": [ + 0.1861152201890945, + -0.36802569031715393, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1860055180425871, + -0.3697033214074001, + 0.804126145006564 + ], + "closest_button": [ + 0.18609854578971857, + -0.36802566051483154, + 0.7691167593002319 + ], + "closest_ee_minus_button": [ + -9.302774713146333e-05, + -0.0016776608925685443, + 0.03500938570633205 + ], + "button_min_z_position": [ + 0.18609854578971857, + -0.36802566051483154, + 0.7691167593002319 + ], + "min_active_finger_to_button": 0.14598700942524281, + "closest_active_finger": [ + 0.045516446232795715, + -0.35152265429496765, + 0.8085409998893738 + ], + "closest_active_finger_button": [ + 0.18612942099571222, + -0.36803120374679565, + 0.7729367017745972 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1406129747629165, + 0.016508549451828003, + 0.03560429811477661 + ], + "min_contact_pad_to_button": 0.021450622953018285, + "closest_contact_pad": [ + 0.18609854578971857, + -0.371083792702946, + 0.7903482701412572 + ], + "closest_contact_pad_button": [ + 0.18609854578971857, + -0.36802566051483154, + 0.7691167593002319 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030581321881144596, + 0.02123151084102526 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1c846ff02d6fc0908d268e71764d83cc9a05473780942d5cf7069026ef478c70", + "visual_seed": 1390724351707472003, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af53a0627a26d60e88368108afbc39b92f806f48 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24491853734310456, + 0.019566599476483426, + 1.1604399128576117 + ], + "current_z": 1.1604399128576117, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30385346505369093, + "gripper_z": 1.1537397805143779, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2398618315424865, + 0.014687734687743398, + 1.1537397805143779 + ], + "object_minus_gripper": [ + 0.0050567058006180665, + 0.004878864788740028, + 0.0067001323432338555 + ], + "object_to_gripper_xy": 0.007026634698119127, + "object_to_gripper_z": 0.0067001323432338555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24491853734310456, + -0.004401566892662421, + 1.1604399128576117 + ], + "finger_b": [ + 0.23374343369042222, + 0.019566599476483426, + 1.1604399128576117 + ], + "finger_midpoint": [ + 0.2393309855167634, + 0.007582516291910502, + 1.1604399128576117 + ], + "object_minus_finger_midpoint": [ + 0.005587551826341158, + 0.011984083184572924, + 0.0 + ], + "finger_gap": 0.02644533873383452, + "fingertip_max_gap": 0.09040335817797754, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013222669366917253, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1604399128576117, + "object_top_z": 1.2057472195986467, + "finger_top_clearance": 0.045307306741035, + "fingertip_min_top_clearance": 0.0135921920223105, + "object_projection_between_fingers": 0.8214314995097357, + "object_to_finger_line_xy": 0.01012831585315461, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04770167908898877, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23099235476464192, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3327969866543695, + -0.3050935219537687, + 0.8470195882578806 + ], + "target_position": [ + 0.32540447747112294, + -0.306228663719906, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007479153618800339, + "xy_threshold": 0.08, + "gripper_dist": 0.18687513785214607, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195882578806, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757737887544525, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558191766066835, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15455120750630988, + "release_required_pad_clearance": 0.052790958830334175, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6293155693769318, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007539868354797363, + "max_z_decrease": 0.007539868354797363, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499767264673765, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007539868354797363, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021289785393990436, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007539868354797363, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007539892511527853, + "max_button_displacement": 0.12, + "button_start": [ + 0.1811044067144394, + -0.36249011754989624, + 0.7768088579177856 + ], + "button_final": [ + 0.1811044067144394, + -0.36249011754989624, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18073415792320052, + -0.362185643427103, + 0.8046501240639093 + ], + "closest_button": [ + 0.18108677864074707, + -0.36249387264251703, + 0.7696555852890015 + ], + "closest_ee_minus_button": [ + -0.0003526207175465479, + 0.00030822921541401316, + 0.03499453877490788 + ], + "button_min_z_position": [ + 0.1810857057571411, + -0.3624939322471618, + 0.7692689895629883 + ], + "min_active_finger_to_button": 0.14613216609585208, + "closest_active_finger": [ + 0.05340024083852768, + -0.4242516756057739, + 0.8079227209091187 + ], + "closest_active_finger_button": [ + 0.181115984916687, + -0.3624962866306305, + 0.7728574872016907 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12771574407815933, + -0.06175538897514343, + 0.03506523370742798 + ], + "min_contact_pad_to_button": 0.021289785393990436, + "closest_contact_pad": [ + 0.1810857057571411, + -0.36348798923534714, + 0.7905355551725645 + ], + "closest_contact_pad_button": [ + 0.1810857057571411, + -0.3624939322471618, + 0.7692689895629883 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009940569881853323, + 0.021266565609576182 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2384108bbd35b601b68ce899496b018cb25356bb80fa1b6224dcae9d544b2e18", + "visual_seed": 3845917576901189446, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f78e1672af97a839193a97e866e9d67fa58f493 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24356388612241156, + 0.02056575994868675, + 1.1606025174072518 + ], + "current_z": 1.1606025174072518, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3040160099986863, + "gripper_z": 1.1539364260895115, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23860441721235162, + 0.015757578914351977, + 1.1539364260895115 + ], + "object_minus_gripper": [ + 0.004959468910059939, + 0.004808181034334773, + 0.006666091317740319 + ], + "object_to_gripper_xy": 0.006907599925356688, + "object_to_gripper_z": 0.006666091317740319, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24356388612241156, + -0.0035092385573075955, + 1.1606025174072518 + ], + "finger_b": [ + 0.23270759346099418, + 0.02056575994868675, + 1.1606025174072518 + ], + "finger_midpoint": [ + 0.23813573979170288, + 0.008528260695689578, + 1.1606025174072518 + ], + "object_minus_finger_midpoint": [ + 0.0054281463307086775, + 0.012037499252997172, + 0.0 + ], + "finger_gap": 0.02640955591095721, + "fingertip_max_gap": 0.09067843676257822, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013204777955478598, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1606025174072518, + "object_top_z": 1.2060593635918093, + "finger_top_clearance": 0.045456846184557476, + "fingertip_min_top_clearance": 0.013637053855367242, + "object_projection_between_fingers": 0.8310178279812952, + "object_to_finger_line_xy": 0.009896615849410094, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047839218381289114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3464056539957675, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33496272005620054, + -0.3042730908796389, + 0.847019331740754 + ], + "target_position": [ + 0.3264090810321694, + -0.30619404312414344, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008766686835920114, + "xy_threshold": 0.08, + "gripper_dist": 0.18648364761522657, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019331740754, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758127901407724, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08615852124680666, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15418409187086232, + "release_required_pad_clearance": 0.05307926062340333, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1856256995537902, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007489383220672607, + "max_z_decrease": 0.007489383220672607, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502977121665487, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007489383220672607, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021252899513836656, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007489383220672607, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007489403458846415, + "max_button_displacement": 0.12, + "button_start": [ + 0.18210901319980616, + -0.36245548725128174, + 0.7768088579177856 + ], + "button_final": [ + 0.18210901319980616, + -0.36245548725128174, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1810720889178345, + -0.3614439777495081, + 0.8043197147503427 + ], + "closest_button": [ + 0.1820917874574661, + -0.3624580204486847, + 0.769319474697113 + ], + "closest_ee_minus_button": [ + -0.0010196985396316027, + 0.0010140426991765983, + 0.03500024005322966 + ], + "button_min_z_position": [ + 0.1820917874574661, + -0.3624580204486847, + 0.769319474697113 + ], + "min_active_finger_to_button": 0.14643486143889342, + "closest_active_finger": [ + 0.053258299827575684, + -0.42235472798347473, + 0.8082180023193359 + ], + "closest_active_finger_button": [ + 0.18212343752384183, + -0.3624619245529175, + 0.7728655338287354 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12886513769626615, + -0.05989280343055725, + 0.035352468490600586 + ], + "min_contact_pad_to_button": 0.021252899513836656, + "closest_contact_pad": [ + 0.1820917874574661, + -0.36283719769709505, + 0.790568991453019 + ], + "closest_contact_pad_button": [ + 0.1820917874574661, + -0.3624580204486847, + 0.769319474697113 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00037917724841035616, + 0.021249516755905917 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f2fe5c6d7caab09ec98eabeda8297b667aafccb742683968ce0dac515afe50ee", + "visual_seed": 4458498565899650252, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7da9a11a0722a4aeff49d83770631e2f70ccb123 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23771196654223842, + 0.024729136895986138, + 1.159741780545855 + ], + "current_z": 1.159741780545855, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3031553327419342, + "gripper_z": 1.1532911604353402, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23275029751954074, + 0.019833101947852885, + 1.1532911604353402 + ], + "object_minus_gripper": [ + 0.004961669022697679, + 0.004896034948133253, + 0.006450620110514782 + ], + "object_to_gripper_xy": 0.006970603826365398, + "object_to_gripper_z": 0.006450620110514782, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23771196654223842, + 0.0008179575905534549, + 1.159741780545855 + ], + "finger_b": [ + 0.22650874886618014, + 0.024729136895986138, + 1.159741780545855 + ], + "finger_midpoint": [ + 0.2321103577042093, + 0.012773547243269796, + 1.159741780545855 + ], + "object_minus_finger_midpoint": [ + 0.005601608838029126, + 0.011955589652716342, + 0.0 + ], + "finger_gap": 0.026405616487287262, + "fingertip_max_gap": 0.0908128990554955, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013202808243643624, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159741780545855, + "object_top_z": 1.2051526006841184, + "finger_top_clearance": 0.045410820138263475, + "fingertip_min_top_clearance": 0.013623246041479043, + "object_projection_between_fingers": 0.819991536080073, + "object_to_finger_line_xy": 0.01014489272685573, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04790644952774775, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4413285989389493, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3373337585570074, + -0.30493651746583794, + 0.8470195888235446 + ], + "target_position": [ + 0.33028783592489286, + -0.30570631956460953, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0070878502388959505, + "xy_threshold": 0.08, + "gripper_dist": 0.1870081705050121, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195888235446, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518293524022465, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855487486378199, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15600823734808575, + "release_required_pad_clearance": 0.05277437431890995, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5974142599992699, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007662594318389893, + "max_z_decrease": 0.007662594318389893, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502139323956386, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007662594318389893, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021241927580219838, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007662594318389893, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007662612193978519, + "max_button_displacement": 0.12, + "button_start": [ + 0.18598775565624234, + -0.3619677722454071, + 0.7768088579177856 + ], + "button_final": [ + 0.18598775565624234, + -0.3619677722454071, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18644089270046016, + -0.3610318467946242, + 0.8041519671661285 + ], + "closest_button": [ + 0.1859712451696396, + -0.3619689345359802, + 0.7691462635993958 + ], + "closest_ee_minus_button": [ + 0.00046964753082057165, + 0.0009370877413560352, + 0.035005703566732715 + ], + "button_min_z_position": [ + 0.1859712451696396, + -0.3619689345359802, + 0.7691462635993958 + ], + "min_active_finger_to_button": 0.14520369490361343, + "closest_active_finger": [ + 0.059073805809020996, + -0.4229181408882141, + 0.8082523345947266 + ], + "closest_active_finger_button": [ + 0.18600305914878845, + -0.3619737029075622, + 0.7727720141410828 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12692925333976746, + -0.06094443798065191, + 0.0354803204536438 + ], + "min_contact_pad_to_button": 0.021241927580219838, + "closest_contact_pad": [ + 0.1859712451696396, + -0.36233427175453425, + 0.790385049253007 + ], + "closest_contact_pad_button": [ + 0.1859712451696396, + -0.3619689345359802, + 0.7691462635993958 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00036533721855402934, + 0.02123878565361126 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "646d0fdbd86bd3faa2f90fd14fb007bbc89944941a73ef97db0b54128103579a", + "visual_seed": 231726280298992963, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c80d06a73cf75040b44f119a809a5cfa3f56c452 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23944507350965374, + 0.023836492010226765, + 1.1599174066562608 + ], + "current_z": 1.1599174066562608, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3033308992476952, + "gripper_z": 1.153239994397052, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23452441279607722, + 0.019102743448634968, + 1.153239994397052 + ], + "object_minus_gripper": [ + 0.004920660713576525, + 0.004733748561591797, + 0.006677412259208815 + ], + "object_to_gripper_xy": 0.006827977541154323, + "object_to_gripper_z": 0.006677412259208815, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23944507350965374, + -0.0002376640530505367, + 1.1599174066562608 + ], + "finger_b": [ + 0.22873306453004627, + 0.023836492010226765, + 1.1599174066562608 + ], + "finger_midpoint": [ + 0.23408906901985, + 0.011799413978588113, + 1.1599174066562608 + ], + "object_minus_finger_midpoint": [ + 0.005356004489803751, + 0.012037078031638651, + 0.0 + ], + "finger_gap": 0.026349803159382852, + "fingertip_max_gap": 0.09053913875832545, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013174901579691431, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1599174066562608, + "object_top_z": 1.2052733011801027, + "finger_top_clearance": 0.04535589452384192, + "fingertip_min_top_clearance": 0.013606768357152577, + "object_projection_between_fingers": 0.8347326339361089, + "object_to_finger_line_xy": 0.009786888135992357, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776956937916273, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3314968857698447, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3371393508721835, + -0.3025423517842273, + 0.847019755732568 + ], + "target_position": [ + 0.3291107685059704, + -0.30415738253460856, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00818941140349814, + "xy_threshold": 0.08, + "gripper_dist": 0.18824822355860102, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019755732568, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575512120877953, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595366074037901, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15589689180143265, + "release_required_pad_clearance": 0.05297683037018951, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9867427474666195, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007343888282775879, + "max_z_decrease": 0.007343888282775879, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504915409593793, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007343888282775879, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021374294488996474, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007343888282775879, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007343905958366644, + "max_button_displacement": 0.12, + "button_start": [ + 0.18481069803237915, + -0.3604188263416289, + 0.7768088579177856 + ], + "button_final": [ + 0.18481069803237915, + -0.3604188263416289, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18352375950265556, + -0.36191670559851274, + 0.807829176375225 + ], + "closest_button": [ + 0.18480385839939117, + -0.36042478680610646, + 0.7728351950645447 + ], + "closest_ee_minus_button": [ + -0.0012800988967356097, + -0.0014919187924062882, + 0.03499398131068032 + ], + "button_min_z_position": [ + 0.18479502201080322, + -0.3604225516319274, + 0.7694649696350098 + ], + "min_active_finger_to_button": 0.14741755226779357, + "closest_active_finger": [ + 0.04218363016843796, + -0.34732669591903687, + 0.8080281019210815 + ], + "closest_active_finger_button": [ + 0.18482033908367157, + -0.3604243993759154, + 0.7731690406799316 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1426367089152336, + 0.013097703456878551, + 0.0348590612411499 + ], + "min_contact_pad_to_button": 0.021374294488996474, + "closest_contact_pad": [ + 0.18479502201080322, + -0.3631386822602927, + 0.7906659861038492 + ], + "closest_contact_pad_button": [ + 0.18479502201080322, + -0.3604225516319274, + 0.7694649696350098 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002716130628365343, + 0.02120101646883943 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb797aa6fe2531874d73f7cdd94dc792564336a2a6d75e8bbdbd8f3feb4835ac", + "visual_seed": 2750335800320610769, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..75419929ede98a860cc0cc9d5ae478a0b80682cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24047585031564142, + 0.025942793464345425, + 1.158151346639605 + ], + "current_z": 1.158151346639605, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.30156472002174983, + "gripper_z": 1.1515478478638481, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2355789839454633, + 0.021007089458144765, + 1.1515478478638481 + ], + "object_minus_gripper": [ + 0.00489686637017811, + 0.004935704006200661, + 0.006603498775756833 + ], + "object_to_gripper_xy": 0.006952731426152357, + "object_to_gripper_z": 0.006603498775756833, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24047585031564142, + 0.002153603485858934, + 1.158151346639605 + ], + "finger_b": [ + 0.22911800522250997, + 0.025942793464345425, + 1.158151346639605 + ], + "finger_midpoint": [ + 0.23479692776907568, + 0.01404819847510218, + 1.158151346639605 + ], + "object_minus_finger_midpoint": [ + 0.00567892254656574, + 0.011894594989243246, + 0.0 + ], + "finger_gap": 0.026361453013673056, + "fingertip_max_gap": 0.0905646573361035, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013180726506836535, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158151346639605, + "object_top_z": 1.2035818801143572, + "finger_top_clearance": 0.04543053347475223, + "fingertip_min_top_clearance": 0.013629160042425635, + "object_projection_between_fingers": 0.8143678505244479, + "object_to_finger_line_xy": 0.010249584289856156, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778232866805175, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2070105088176198, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3336434112078437, + -0.3057847058265124, + 0.8470195211501554 + ], + "target_position": [ + 0.3265623441249927, + -0.3068201740629541, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007156375164880306, + "xy_threshold": 0.08, + "gripper_dist": 0.18719985691810262, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195211501554, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574896350265434, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538711811948806, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15489431429507453, + "release_required_pad_clearance": 0.05269355905974403, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4423468638238467, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0076105594635009766, + "max_z_decrease": 0.0076105594635009766, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505132693143012, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0076105594635009766, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021224118663610386, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0076105594635009766, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007610577800578802, + "max_button_displacement": 0.12, + "button_start": [ + 0.1822622716426849, + -0.36308163404464716, + 0.7768088579177856 + ], + "button_final": [ + 0.1822622716426849, + -0.36308163404464716, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18047241820699098, + -0.3635377038834521, + 0.807339327381351 + ], + "closest_button": [ + 0.18225128948688504, + -0.3630873560905456, + 0.7723360657691956 + ], + "closest_ee_minus_button": [ + -0.0017788712798940676, + -0.0004503477929064803, + 0.03500326161215539 + ], + "button_min_z_position": [ + 0.1822463423013687, + -0.3630866706371307, + 0.7691982984542847 + ], + "min_active_finger_to_button": 0.14795130735639914, + "closest_active_finger": [ + 0.039186276495456696, + -0.34862813353538513, + 0.807532787322998 + ], + "closest_active_finger_button": [ + 0.1822715699672699, + -0.3630895316600799, + 0.7727900743484497 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1430852934718132, + 0.014461398124694769, + 0.03474271297454834 + ], + "min_contact_pad_to_button": 0.021224118663610386, + "closest_contact_pad": [ + 0.1822463423013687, + -0.3647530696120689, + 0.7903568978290859 + ], + "closest_contact_pad_button": [ + 0.1822463423013687, + -0.3630866706371307, + 0.7691982984542847 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001666398974938199, + 0.021158599374801246 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e3bd0c44b34b524452b1d5c9a52a4ca5ba6b2b8eb654a645ad77a07e4dee6a16", + "visual_seed": 5330891976520150253, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aed84e38eb9d58ae72c388ec2cf1b4ff3eed50d0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24425687519777664, + 0.026526676291259346, + 1.159501981117189 + ], + "current_z": 1.159501981117189, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30291553331326815, + "gripper_z": 1.1527615628848955, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23962328326385116, + 0.02182357212516263, + 1.1527615628848955 + ], + "object_minus_gripper": [ + 0.004633591933925485, + 0.004703104166096716, + 0.0067404182322934325 + ], + "object_to_gripper_xy": 0.00660222409550718, + "object_to_gripper_z": 0.0067404182322934325, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24425687519777664, + 0.0026760752064127467, + 1.159501981117189 + ], + "finger_b": [ + 0.23354586497254112, + 0.026526676291259346, + 1.159501981117189 + ], + "finger_midpoint": [ + 0.23890137008515888, + 0.014601375748836047, + 1.159501981117189 + ], + "object_minus_finger_midpoint": [ + 0.005355505112617759, + 0.011925300542423299, + 0.0 + ], + "finger_gap": 0.026145303825994937, + "fingertip_max_gap": 0.09065600224895712, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013072651912997469, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159501981117189, + "object_top_z": 1.2049378222527944, + "finger_top_clearance": 0.045435841135605504, + "fingertip_min_top_clearance": 0.01363075234068165, + "object_projection_between_fingers": 0.8321684977866495, + "object_to_finger_line_xy": 0.00977093377066861, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782800112447856, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.43455937650854437, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3379784045490601, + -0.30998447055514383, + 0.8470196696258565 + ], + "target_position": [ + 0.331230465499671, + -0.3109410439220222, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00681540270420546, + "xy_threshold": 0.08, + "gripper_dist": 0.18554708172508932, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196696258565, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567726833249977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861660913217263, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15347765288538473, + "release_required_pad_clearance": 0.05308304566086315, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1922084122093086, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007706284523010254, + "max_z_decrease": 0.007706284523010254, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501248756005337, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007706284523010254, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02133039463824985, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007706284523010254, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007706302248560191, + "max_button_displacement": 0.12, + "button_start": [ + 0.18693038821220395, + -0.36720249056816096, + 0.7768088579177856 + ], + "button_final": [ + 0.18693038821220395, + -0.36720249056816096, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18606386066077008, + -0.36793293678939065, + 0.8041647841153351 + ], + "closest_button": [ + 0.18691393733024594, + -0.36720323562622065, + 0.7691702246665955 + ], + "closest_ee_minus_button": [ + -0.0008500766694758688, + -0.0007297011631700046, + 0.03499455944873964 + ], + "button_min_z_position": [ + 0.18691387772560117, + -0.36720326542854304, + 0.7691025733947754 + ], + "min_active_finger_to_button": 0.14679400533405162, + "closest_active_finger": [ + 0.04536816477775574, + -0.35121387243270874, + 0.8082708716392517 + ], + "closest_active_finger_button": [ + 0.18694366514682764, + -0.36720940470695496, + 0.7729296684265137 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1415755003690719, + 0.015995532274246216, + 0.03534120321273804 + ], + "min_contact_pad_to_button": 0.02133039463824985, + "closest_contact_pad": [ + 0.18691387772560117, + -0.369181891900769, + 0.7903410001893119 + ], + "closest_contact_pad_button": [ + 0.18691387772560117, + -0.36720326542854304, + 0.7691025733947754 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001978626472225964, + 0.02123842679453647 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0b8e04b4f00603e2e55a8b4690a00d47535b18d843d110e5e1af8cfd294a2159", + "visual_seed": 9084857815549069864, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e149ca2f2b3e235487786d0b004a4bc8b05e890 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23578849925245837, + 0.02096507803911249, + 1.1580754460337634 + ], + "current_z": 1.1580754460337634, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.3014889386251981, + "gripper_z": 1.15160851259391, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23094583942459923, + 0.016054893680365986, + 1.15160851259391 + ], + "object_minus_gripper": [ + 0.0048426598278591415, + 0.004910184358746503, + 0.006466933439853495 + ], + "object_to_gripper_xy": 0.006896467548335128, + "object_to_gripper_z": 0.006466933439853495, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23578849925245837, + -0.002858322979190989, + 1.1580754460337634 + ], + "finger_b": [ + 0.22456318559991764, + 0.02096507803911249, + 1.1580754460337634 + ], + "finger_midpoint": [ + 0.230175842426188, + 0.00905337752996075, + 1.1580754460337634 + ], + "object_minus_finger_midpoint": [ + 0.005612656826270379, + 0.011911700509151739, + 0.0 + ], + "finger_gap": 0.026335567255649166, + "fingertip_max_gap": 0.0905986288284471, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013167783627824588, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1580754460337634, + "object_top_z": 1.2034495538554995, + "finger_top_clearance": 0.04537410782173601, + "fingertip_min_top_clearance": 0.013612232346520802, + "object_projection_between_fingers": 0.8183181201631584, + "object_to_finger_line_xy": 0.010154523960115205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047799314414223554, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2437339030281622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3329071400422815, + -0.3083804372315189, + 0.8470196437890257 + ], + "target_position": [ + 0.32594886543923574, + -0.3091533666959895, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007001071732844797, + "xy_threshold": 0.08, + "gripper_dist": 0.1873055140256541, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196437890257, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522821635825046, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08631382114858575, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15606683084136966, + "release_required_pad_clearance": 0.05315691057429288, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3382065514834298, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007324039936065674, + "max_z_decrease": 0.007324039936065674, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003132710654736, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007324039936065674, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021273810030043513, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007324039936065674, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073240618227236095, + "max_button_displacement": 0.12, + "button_start": [ + 0.18164879083633417, + -0.3654148280620574, + 0.7768088579177856 + ], + "button_final": [ + 0.18164879083633417, + -0.3654148280620574, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18142017273932284, + -0.3648029498337957, + 0.8059941102390871 + ], + "closest_button": [ + 0.18163524568080897, + -0.36541828513145436, + 0.7709970474243164 + ], + "closest_ee_minus_button": [ + -0.00021507294148612188, + 0.0006153352976586701, + 0.03499706281477066 + ], + "button_min_z_position": [ + 0.18163137137889857, + -0.3654189705848693, + 0.76948481798172 + ], + "min_active_finger_to_button": 0.14601120259060085, + "closest_active_finger": [ + 0.05427242070436478, + -0.4276394844055176, + 0.8081275224685669 + ], + "closest_active_finger_button": [ + 0.1816603690385818, + -0.36542019248008717, + 0.7731941342353821 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12738794833421702, + -0.06221929192543041, + 0.034933388233184814 + ], + "min_contact_pad_to_button": 0.021273810030043513, + "closest_contact_pad": [ + 0.18163137137889857, + -0.3660715970972408, + 0.7907486151927011 + ], + "closest_contact_pad_button": [ + 0.18163137137889857, + -0.3654189705848693, + 0.76948481798172 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006526265123715236, + 0.02126379721098115 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1dcc3239dc27af8e81d695e244966a20352c2c50f6ee534bda6808bb4fc7d3aa", + "visual_seed": 3783476982234819587, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3b689aa4682986ecf3ae769a800dcfd4c5f19c60 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2378079093545472, + 0.018696840031307206, + 1.1597754505406022 + ], + "current_z": 1.1597754505406022, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30318900273668137, + "gripper_z": 1.1532951802826759, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23265179696145466, + 0.01387568668312579, + 1.1532951802826759 + ], + "object_minus_gripper": [ + 0.005156112393092549, + 0.004821153348181416, + 0.006480270257926302 + ], + "object_to_gripper_xy": 0.007058966965277812, + "object_to_gripper_z": 0.006480270257926302, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2378079093545472, + -0.005522512970954499, + 1.1597754505406022 + ], + "finger_b": [ + 0.22695785056742865, + 0.018696840031307206, + 1.1597754505406022 + ], + "finger_midpoint": [ + 0.23238287996098794, + 0.006587163530176353, + 1.1597754505406022 + ], + "object_minus_finger_midpoint": [ + 0.005425029393559266, + 0.012109676501130852, + 0.0 + ], + "finger_gap": 0.026538666800201016, + "fingertip_max_gap": 0.09066629655340683, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013269333400100503, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597754505406022, + "object_top_z": 1.2051292155514068, + "finger_top_clearance": 0.04535376501080468, + "fingertip_min_top_clearance": 0.01360612950324137, + "object_projection_between_fingers": 0.832850154728285, + "object_to_finger_line_xy": 0.009901831385837574, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047833148276703416, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3750757898839238, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3414618218341064, + -0.3076668756952954, + 0.8470198603655335 + ], + "target_position": [ + 0.33198586303029803, + -0.30978990231945536, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009710872118320026, + "xy_threshold": 0.08, + "gripper_dist": 0.18966277154251868, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198603655335, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075668005928891, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08624092514312452, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15758361115749348, + "release_required_pad_clearance": 0.05312046257156226, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.266075925051682, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007546901702880859, + "max_z_decrease": 0.007546901702880859, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035019398321064786, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007546901702880859, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021241632944997285, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007546901702880859, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007546920235512403, + "max_button_displacement": 0.12, + "button_start": [ + 0.18768578767776484, + -0.3660513460636139, + 0.7768088579177856 + ], + "button_final": [ + 0.18768578767776484, + -0.3660513460636139, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18767109309872312, + -0.36542222376060074, + 0.8042756949058749 + ], + "closest_button": [ + 0.18766906857490534, + -0.3660517930984497, + 0.7692619562149048 + ], + "closest_ee_minus_button": [ + 2.024523817784063e-06, + 0.0006295693378489675, + 0.03501373869097013 + ], + "button_min_z_position": [ + 0.18766906857490534, + -0.3660517930984497, + 0.7692619562149048 + ], + "min_active_finger_to_button": 0.14577749856207117, + "closest_active_finger": [ + 0.060048021376132965, + -0.42677628993988037, + 0.8086583614349365 + ], + "closest_active_finger_button": [ + 0.18770077824592585, + -0.36605706810951233, + 0.773034930229187 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12765275686979288, + -0.06071922183036804, + 0.03562343120574951 + ], + "min_contact_pad_to_button": 0.021241632944997285, + "closest_contact_pad": [ + 0.18766906857490534, + -0.3667786578316314, + 0.7904911492713931 + ], + "closest_contact_pad_button": [ + 0.18766906857490534, + -0.3660517930984497, + 0.7692619562149048 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007268647331816758, + 0.021229193056488294 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "47a962a4f31ccbf1c5ac28a441152046bd9e62981500fac7c9b555ae7899aed7", + "visual_seed": 2998970998315804217, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a934b98282eec6eb300852ac9a2b2446f2badd5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23837534411671202, + 0.02545001694099795, + 1.1591674766885613 + ], + "current_z": 1.1591674766885613, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.3025811480939301, + "gripper_z": 1.1524953522350243, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23319101515038596, + 0.02060632256817356, + 1.1524953522350243 + ], + "object_minus_gripper": [ + 0.005184328966326063, + 0.0048436943728243885, + 0.006672124453537043 + ], + "object_to_gripper_xy": 0.007094973009703286, + "object_to_gripper_z": 0.006672124453537043, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23837534411671202, + 0.0012366744625421048, + 1.1591674766885613 + ], + "finger_b": [ + 0.22745511171851807, + 0.02545001694099795, + 1.1591674766885613 + ], + "finger_midpoint": [ + 0.23291522791761504, + 0.013343345701770027, + 1.1591674766885613 + ], + "object_minus_finger_midpoint": [ + 0.005460116199096976, + 0.012106671239227922, + 0.0 + ], + "finger_gap": 0.026561954551756146, + "fingertip_max_gap": 0.09027726962233792, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013280977275878073, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1591674766885613, + "object_top_z": 1.204441428328626, + "finger_top_clearance": 0.04527395164006465, + "fingertip_min_top_clearance": 0.013582185492019361, + "object_projection_between_fingers": 0.8309778182901537, + "object_to_finger_line_xy": 0.00995466378374318, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047638634811168964, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1991121742683875, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3406652902649366, + -0.3090014522216231, + 0.8470196226886815 + ], + "target_position": [ + 0.33222604561471303, + -0.3105612949540202, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008582188509706531, + "xy_threshold": 0.08, + "gripper_dist": 0.18729510322501774, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196226886815, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537251218934007, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531828401605705, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15579753528264972, + "release_required_pad_clearance": 0.05265914200802853, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.37534297673672823, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007844150066375732, + "max_z_decrease": 0.007844150066375732, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501567336046099, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007844150066375732, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021257824128811355, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007844150066375732, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007844168100269553, + "max_button_displacement": 0.12, + "button_start": [ + 0.18792596459388733, + -0.36682274937629694, + 0.7768088579177856 + ], + "button_final": [ + 0.18792596459388733, + -0.36682274937629694, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18890345289224614, + -0.36642335519798147, + 0.8039639503510435 + ], + "closest_button": [ + 0.18790961802005768, + -0.3668267130851745, + 0.7689647078514099 + ], + "closest_ee_minus_button": [ + 0.0009938348721884593, + 0.00040335788719303434, + 0.0349992424996336 + ], + "button_min_z_position": [ + 0.18790961802005768, + -0.3668267130851745, + 0.7689647078514099 + ], + "min_active_finger_to_button": 0.1448762272012332, + "closest_active_finger": [ + 0.06304291635751724, + -0.43141135573387146, + 0.8077862858772278 + ], + "closest_active_finger_button": [ + 0.1879371851682663, + -0.3668278455734253, + 0.7728647589683533 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12489426881074905, + -0.06458351016044617, + 0.03492152690887451 + ], + "min_contact_pad_to_button": 0.021257824128811355, + "closest_contact_pad": [ + 0.18790961802005768, + -0.3674140247186887, + 0.7902144173020498 + ], + "closest_contact_pad_button": [ + 0.18790961802005768, + -0.3668267130851745, + 0.7689647078514099 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005873116335142203, + 0.021249709450639864 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79ff62a2042bf8233fe4f3c0da048bd5198a524d2dd7e50c7ea8c632087ef7c2", + "visual_seed": 253267635900201170, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..840f2b3ec9ac0c721f75c99ae652532cd54d03e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2392948560593771, + 0.026325222150225806, + 1.1587818456903294 + ], + "current_z": 1.1587818456903294, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3021953978864086, + "gripper_z": 1.1521462262711482, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23441270124578656, + 0.021594895543872505, + 1.1521462262711482 + ], + "object_minus_gripper": [ + 0.004882154813590528, + 0.004730326606353301, + 0.006635619419181227 + ], + "object_to_gripper_xy": 0.006797898603733296, + "object_to_gripper_z": 0.006635619419181227, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2392948560593771, + 0.002225976669794219, + 1.1587818456903294 + ], + "finger_b": [ + 0.22865143962155626, + 0.026325222150225806, + 1.1587818456903294 + ], + "finger_midpoint": [ + 0.2339731478404667, + 0.014275599410010012, + 1.1587818456903294 + ], + "object_minus_finger_midpoint": [ + 0.005321708218910398, + 0.012049622740215794, + 0.0 + ], + "finger_gap": 0.026344941567499763, + "fingertip_max_gap": 0.09060209901529667, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013172470783749876, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1587818456903294, + "object_top_z": 1.2042189432344443, + "finger_top_clearance": 0.04543709754411496, + "fingertip_min_top_clearance": 0.01363112926323452, + "object_projection_between_fingers": 0.8367821584269651, + "object_to_finger_line_xy": 0.00973615010032636, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780104950764834, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3303987849125634, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33829301979688253, + -0.311176261715749, + 0.8470191435710249 + ], + "target_position": [ + 0.3312401780590966, + -0.3121044000139895, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007113650067223984, + "xy_threshold": 0.08, + "gripper_dist": 0.1887058212869124, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191435710249, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525082624147358, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08624472983853136, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15750356338018345, + "release_required_pad_clearance": 0.05312236491926568, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.271012290648843, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00755155086517334, + "max_z_decrease": 0.00755155086517334, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504728528165917, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00755155086517334, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021321143909428707, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00755155086517334, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007551569188978264, + "max_button_displacement": 0.12, + "button_start": [ + 0.1869401037693023, + -0.36836585402488703, + 0.7768088579177856 + ], + "button_final": [ + 0.1869401037693023, + -0.36836585402488703, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18562677766639282, + -0.3687235098691491, + 0.8080736004364715 + ], + "closest_button": [ + 0.18695434927940363, + -0.36837232112884516, + 0.7730532288551331 + ], + "closest_ee_minus_button": [ + -0.0013275716130108084, + -0.00035118874030393155, + 0.035020371581338416 + ], + "button_min_z_position": [ + 0.18692347407340998, + -0.36836630105972284, + 0.7692573070526123 + ], + "min_active_finger_to_button": 0.14774871575237955, + "closest_active_finger": [ + 0.04462751746177673, + -0.35079464316368103, + 0.8086029291152954 + ], + "closest_active_finger_button": [ + 0.18695434927940363, + -0.36837232112884516, + 0.7730532288551331 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1423268318176269, + 0.01757767796516413, + 0.035549700260162354 + ], + "min_contact_pad_to_button": 0.021321143909428707, + "closest_contact_pad": [ + 0.18692347407340998, + -0.37029108123967885, + 0.790491392831506 + ], + "closest_contact_pad_button": [ + 0.18692347407340998, + -0.36836630105972284, + 0.7692573070526123 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019247801799560094, + 0.02123408577889374 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "24fd2f7ba9d730c6a741ef72d3e9759f9b607ca17e139bd84695a6095e27af3c", + "visual_seed": 1565446611363353202, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..35bb9ce1475cc706915e9f3094181c00122e2f5c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23701317342352549, + 0.02258090167346179, + 1.1596327085797713 + ], + "current_z": 1.1596327085797713, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.3030463203804953, + "gripper_z": 1.1530999548354486, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2321680764549107, + 0.01767532388808675, + 1.1530999548354486 + ], + "object_minus_gripper": [ + 0.004845096968614793, + 0.0049055777853750406, + 0.006532753744322717 + ], + "object_to_gripper_xy": 0.006894900872648231, + "object_to_gripper_z": 0.006532753744322717, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23701317342352549, + -0.0012191518066995417, + 1.1596327085797713 + ], + "finger_b": [ + 0.22576854156329124, + 0.02258090167346179, + 1.1596327085797713 + ], + "finger_midpoint": [ + 0.23139085749340838, + 0.010680874933381124, + 1.1596327085797713 + ], + "object_minus_finger_midpoint": [ + 0.005622315930117111, + 0.011900026740080666, + 0.0 + ], + "finger_gap": 0.026322695365990443, + "fingertip_max_gap": 0.09046554503267432, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013161347682995216, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1596327085797713, + "object_top_z": 1.2049787055067709, + "finger_top_clearance": 0.04534599692699959, + "fingertip_min_top_clearance": 0.01360379907809991, + "object_projection_between_fingers": 0.8175139092425452, + "object_to_finger_line_xy": 0.010166999842427846, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773277251633716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.18935840712463145, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33742460929931617, + -0.30313584992396525, + 0.8470194447679061 + ], + "target_position": [ + 0.33032997971440786, + -0.30415617442912535, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0071676238072939085, + "xy_threshold": 0.08, + "gripper_dist": 0.18701660497227135, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194447679061, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588687727306413, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08593937856666144, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1542741026440014, + "release_required_pad_clearance": 0.05296968928333072, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9699381890154204, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007587850093841553, + "max_z_decrease": 0.007587850093841553, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03512721329055709, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007587850093841553, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021253194990365043, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007587850093841553, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007587868411690727, + "max_button_displacement": 0.12, + "button_start": [ + 0.18602991104125977, + -0.36041763424873346, + 0.7768088579177856 + ], + "button_final": [ + 0.18602991104125977, + -0.36041763424873346, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18347216450107298, + -0.35867606264402996, + 0.8056266769675106 + ], + "closest_button": [ + 0.18601590394973755, + -0.36042019724845886, + 0.7706351280212402 + ], + "closest_ee_minus_button": [ + -0.002543739448664567, + 0.0017441346044289041, + 0.03499154894627032 + ], + "button_min_z_position": [ + 0.18601346015930176, + -0.36042034626007075, + 0.7692210078239441 + ], + "min_active_finger_to_button": 0.14758792804648066, + "closest_active_finger": [ + 0.05641303211450577, + -0.4216407537460327, + 0.8078787922859192 + ], + "closest_active_finger_button": [ + 0.18604253232479095, + -0.36042538285255427, + 0.7727922201156616 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1296295002102852, + -0.06121537089347845, + 0.03508657217025757 + ], + "min_contact_pad_to_button": 0.021253194990365043, + "closest_contact_pad": [ + 0.18601346015930176, + -0.36042034626007075, + 0.7904742028143091 + ], + "closest_contact_pad_button": [ + 0.18601346015930176, + -0.36042034626007075, + 0.7692210078239441 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021253194990365043 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79c379c8da92d34e8944610469997d160832856d2b882815e48044e874a7c76e", + "visual_seed": 132993498391923408, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..29c57c3e278bec9b08172b7810a5acf80f4b7754 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2407389893641029, + 0.021500919550879488, + 1.157207081452363 + ], + "current_z": 1.157207081452363, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30062063364844216, + "gripper_z": 1.1505251458873647, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23604390877278897, + 0.0168693262013669, + 1.1505251458873647 + ], + "object_minus_gripper": [ + 0.004695080591313933, + 0.004631593349512589, + 0.006681935564998298 + ], + "object_to_gripper_xy": 0.006595107179885861, + "object_to_gripper_z": 0.006681935564998298, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2407389893641029, + -0.002482244038942279, + 1.157207081452363 + ], + "finger_b": [ + 0.23025777909418274, + 0.021500919550879488, + 1.157207081452363 + ], + "finger_midpoint": [ + 0.23549838422914282, + 0.009509337755968605, + 1.157207081452363 + ], + "object_minus_finger_midpoint": [ + 0.00524060513496008, + 0.011991581794910883, + 0.0 + ], + "finger_gap": 0.026173419809005324, + "fingertip_max_gap": 0.09082158293741638, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013086709904502662, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157207081452363, + "object_top_z": 1.2026474319596536, + "finger_top_clearance": 0.04544035050729067, + "fingertip_min_top_clearance": 0.013632105152187168, + "object_projection_between_fingers": 0.839637829703731, + "object_to_finger_line_xy": 0.0096041167855462, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04791079146870819, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5052841913361195, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3339726390327892, + -0.30334191953499157, + 0.8470199261593285 + ], + "target_position": [ + 0.3269001889985036, + -0.3040438424525725, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007107196723722472, + "xy_threshold": 0.08, + "gripper_dist": 0.1844681015746005, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199261593285, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526115135360098, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1533181509201397, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007229745388031006, + "max_z_decrease": 0.007229745388031006, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350454204422164, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007229745388031006, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02146647895069566, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007229745388031006, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007229765829478793, + "max_button_displacement": 0.12, + "button_start": [ + 0.1826001107692718, + -0.36030530929565424, + 0.7768088579177856 + ], + "button_final": [ + 0.1826001107692718, + -0.36030530929565424, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18328681959110316, + -0.36206122923637407, + 0.8049001107495016 + ], + "closest_button": [ + 0.18258400261402125, + -0.3603080511093139, + 0.7699056267738342 + ], + "closest_ee_minus_button": [ + 0.0007028169770819104, + -0.001753178127060162, + 0.0349944839756674 + ], + "button_min_z_position": [ + 0.1825831532478332, + -0.360308140516281, + 0.7695791125297546 + ], + "min_active_finger_to_button": 0.1451968046361209, + "closest_active_finger": [ + 0.04253968596458435, + -0.3454034924507141, + 0.8084808588027954 + ], + "closest_active_finger_button": [ + 0.18261176347732538, + -0.3603135645389556, + 0.773272693157196 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14007207751274103, + 0.014910072088241466, + 0.035208165645599365 + ], + "min_contact_pad_to_button": 0.02146647895069566, + "closest_contact_pad": [ + 0.1825831532478332, + -0.36332041603843335, + 0.7908331924844199 + ], + "closest_contact_pad_button": [ + 0.1825831532478332, + -0.360308140516281, + 0.7695791125297546 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00301227552215233, + 0.021254079954665217 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eed841968ac815ae02a423dca089b335d8f779387669b4b6ba6ee045d3a10456", + "visual_seed": 6551526385125529595, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4c0903b4b771399383cf488b5e75186ef861926a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23799178003094087, + 0.019276405703402444, + 1.1579965175834461 + ], + "current_z": 1.1579965175834461, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.30141006977952556, + "gripper_z": 1.1515838267846579, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23309796567451965, + 0.014306402116544353, + 1.1515838267846579 + ], + "object_minus_gripper": [ + 0.004893814356421222, + 0.0049700035868580905, + 0.006412690798788256 + ], + "object_to_gripper_xy": 0.006974980617069609, + "object_to_gripper_z": 0.006412690798788256, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23799178003094087, + -0.00451448130781496, + 1.1579965175834461 + ], + "finger_b": [ + 0.22659818392420258, + 0.019276405703402444, + 1.1579965175834461 + ], + "finger_midpoint": [ + 0.23229498197757173, + 0.007380962197793742, + 1.1579965175834461 + ], + "object_minus_finger_midpoint": [ + 0.005696798053369145, + 0.011895443505608703, + 0.0 + ], + "finger_gap": 0.026378406643010017, + "fingertip_max_gap": 0.09061097931421855, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013189203321505008, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1579965175834461, + "object_top_z": 1.2034238787089921, + "finger_top_clearance": 0.04542736112554602, + "fingertip_min_top_clearance": 0.013628208337663804, + "object_projection_between_fingers": 0.8134374272550109, + "object_to_finger_line_xy": 0.0102759716041714, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047805489657109276, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.12912234051270477, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3390152283334281, + -0.3057847220843827, + 0.847020651421803 + ], + "target_position": [ + 0.33168747456655007, + -0.30685949588211286, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007406153791562991, + "xy_threshold": 0.08, + "gripper_dist": 0.1883123279008995, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847020651421803, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553639582257317, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561543518571711, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1564033315785307, + "release_required_pad_clearance": 0.05280771759285856, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6596745212472214, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007573366165161133, + "max_z_decrease": 0.007573366165161133, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035021144172230456, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007573366165161133, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0212581512771286, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007573366165161133, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00757339145981363, + "max_button_displacement": 0.12, + "button_start": [ + 0.18738740682601926, + -0.3631209433078765, + 0.7768088579177856 + ], + "button_final": [ + 0.18738740682601926, + -0.3631209433078765, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18752041997209437, + -0.3617643783472356, + 0.8042299005115192 + ], + "closest_button": [ + 0.18736808001995087, + -0.3631240427494048, + 0.7692354917526245 + ], + "closest_ee_minus_button": [ + 0.00015233995214350426, + 0.0013596644021691695, + 0.0349944087588947 + ], + "button_min_z_position": [ + 0.18736808001995087, + -0.3631240427494048, + 0.7692354917526245 + ], + "min_active_finger_to_button": 0.1451871498431286, + "closest_active_finger": [ + 0.0612272173166275, + -0.42581912875175476, + 0.8080852031707764 + ], + "closest_active_finger_button": [ + 0.18739940226078033, + -0.3631279170513152, + 0.7730181217193604 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12617218494415283, + -0.06269121170043956, + 0.035067081451416016 + ], + "min_contact_pad_to_button": 0.0212581512771286, + "closest_contact_pad": [ + 0.18736808001995087, + -0.3631240427494048, + 0.7904936430297531 + ], + "closest_contact_pad_button": [ + 0.18736808001995087, + -0.3631240427494048, + 0.7692354917526245 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0212581512771286 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a4fb8ce2bc7cdec366aab7a2dd84e904b46fd43acb7deddf48d04777ef08b96a", + "visual_seed": 4252325700407023977, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fcbd03394bfa0c184728635b70a4eaebe00bb36d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23888195213893787, + 0.022173026664040123, + 1.1581248715925805 + ], + "current_z": 1.1581248715925805, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3015384237886597, + "gripper_z": 1.15151629742259, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23391398423215162, + 0.017310266185380355, + 1.15151629742259 + ], + "object_minus_gripper": [ + 0.004967967906786247, + 0.004862760478659769, + 0.006608574169990389 + ], + "object_to_gripper_xy": 0.00695177276640092, + "object_to_gripper_z": 0.006608574169990389, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23888195213893787, + -0.0018199802917538185, + 1.1581248715925805 + ], + "finger_b": [ + 0.22783340914732264, + 0.022173026664040123, + 1.1581248715925805 + ], + "finger_midpoint": [ + 0.23335768064313026, + 0.010176523186143153, + 1.1581248715925805 + ], + "object_minus_finger_midpoint": [ + 0.0055242714958076145, + 0.01199650347789697, + 0.0 + ], + "finger_gap": 0.026414667989932153, + "fingertip_max_gap": 0.09050547061020614, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013207333994966076, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1581248715925805, + "object_top_z": 1.2034484714482128, + "finger_top_clearance": 0.04532359985563228, + "fingertip_min_top_clearance": 0.013597079956689651, + "object_projection_between_fingers": 0.8250476794996078, + "object_to_finger_line_xy": 0.010035627513858957, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775273530510307, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.248192578575662, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33434013615144687, + -0.3105939893326799, + 0.8470193302590786 + ], + "target_position": [ + 0.32611519582983184, + -0.31232252619976736, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008404610817581573, + "xy_threshold": 0.08, + "gripper_dist": 0.18607280808882457, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193302590786, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590747157516807, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08525129217384995, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535894619655037, + "release_required_pad_clearance": 0.05262564608692498, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3115322456423014, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007498681545257568, + "max_z_decrease": 0.007498681545257568, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504910841026194, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007498681545257568, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021243877040531194, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007498681545257568, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00749870260765577, + "max_button_displacement": 0.12, + "button_start": [ + 0.18181511759757987, + -0.3685839772224426, + 0.7768088579177856 + ], + "button_final": [ + 0.18181511759757987, + -0.3685839772224426, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17991237587964073, + -0.3689247096567477, + 0.8073348825185228 + ], + "closest_button": [ + 0.18180355429649347, + -0.3685883283615112, + 0.7723384499549866 + ], + "closest_ee_minus_button": [ + -0.0018911784168527401, + -0.0003363812952364986, + 0.03499643256353624 + ], + "button_min_z_position": [ + 0.18179799616336817, + -0.3685887455940246, + 0.7693101763725281 + ], + "min_active_finger_to_button": 0.1480284127758959, + "closest_active_finger": [ + 0.05279801785945892, + -0.4323037266731262, + 0.8111390471458435 + ], + "closest_active_finger_button": [ + 0.18181881308555597, + -0.3685857951641082, + 0.7764105200767517 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12902079522609705, + -0.063717931509018, + 0.0347285270690918 + ], + "min_contact_pad_to_button": 0.021243877040531194, + "closest_contact_pad": [ + 0.18179799616336817, + -0.37019792619929287, + 0.7904930196541283 + ], + "closest_contact_pad_button": [ + 0.18179799616336817, + -0.3685887455940246, + 0.7693101763725281 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016091806052682678, + 0.02118284328160025 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "68c69e37c0b7c8712df40fe8c4f9c8dff7ee7611e8d97e7603d72f5f9e831f30", + "visual_seed": 2917063276602181172, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d58c383a12c72a2e0e428583c513560626fb2952 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2428742700440293, + 0.0270153032387731, + 1.1578205673880315 + ], + "current_z": 1.1578205673880315, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3012341195841107, + "gripper_z": 1.1510617579567153, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23795895686423066, + 0.022062270100463535, + 1.1510617579567153 + ], + "object_minus_gripper": [ + 0.004915313179798653, + 0.004953033138309564, + 0.006758809431316237 + ], + "object_to_gripper_xy": 0.006978025574952777, + "object_to_gripper_z": 0.006758809431316237, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2428742700440293, + 0.0032644615280699, + 1.1578205673880315 + ], + "finger_b": [ + 0.2314517388611582, + 0.0270153032387731, + 1.1578205673880315 + ], + "finger_midpoint": [ + 0.23716300445259375, + 0.0151398823834215, + 1.1578205673880315 + ], + "object_minus_finger_midpoint": [ + 0.00571126559143556, + 0.0118754208553516, + 0.0 + ], + "finger_gap": 0.026354823099207895, + "fingertip_max_gap": 0.09032121316305905, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013177411549603947, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1578205673880315, + "object_top_z": 1.2031500837010718, + "finger_top_clearance": 0.045329516313040275, + "fingertip_min_top_clearance": 0.013598854893912082, + "object_projection_between_fingers": 0.8121529004460825, + "object_to_finger_line_xy": 0.010293930983285448, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766060658152953, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1904421298739666, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 336, + "max_stable_success_frames": 336, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33270917739870864, + -0.30832049644575066, + 0.847019698813789 + ], + "target_position": [ + 0.3242767344929334, + -0.30978842989039096, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008559259428072754, + "xy_threshold": 0.08, + "gripper_dist": 0.18698020679609895, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019698813789, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536321361282787, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541475136758402, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1556138815097233, + "release_required_pad_clearance": 0.05270737568379201, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.46813568052768895, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007387101650238037, + "max_z_decrease": 0.007387101650238037, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507575445522699, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007387101650238037, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021215705487125036, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007387101650238037, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00738712095013825, + "max_button_displacement": 0.12, + "button_start": [ + 0.17997665703296664, + -0.3660498857498168, + 0.7768088579177856 + ], + "button_final": [ + 0.17997665703296664, + -0.3660498857498168, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18104167655226283, + -0.3649192083792577, + 0.8049273718557739 + ], + "closest_button": [ + 0.1799608618021012, + -0.3660548925399779, + 0.7698866724967957 + ], + "closest_ee_minus_button": [ + 0.0010808147501616405, + 0.0011356841607202406, + 0.035040699358978245 + ], + "button_min_z_position": [ + 0.17996054887771612, + -0.3660549521446227, + 0.7694217562675476 + ], + "min_active_finger_to_button": 0.14447796173304994, + "closest_active_finger": [ + 0.05464840680360794, + -0.4289777874946594, + 0.8089236617088318 + ], + "closest_active_finger_button": [ + 0.17998479306697848, + -0.3660543859004973, + 0.7742059826850891 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12533638626337054, + -0.0629234015941621, + 0.034717679023742676 + ], + "min_contact_pad_to_button": 0.021215705487125036, + "closest_contact_pad": [ + 0.17996054887771612, + -0.3660549521446227, + 0.7906374617546726 + ], + "closest_contact_pad_button": [ + 0.17996054887771612, + -0.3660549521446227, + 0.7694217562675476 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021215705487125036 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0b3aeb325e62e82255deee613d894fc8c15db8cb5fae28cefbba27c7be846be3", + "visual_seed": 7489950343207670090, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2ba4a51d8da16a8f8c64e87c8568dc6d49194946 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24458403528186157, + 0.017966568129115332, + 1.159178135055943 + ], + "current_z": 1.159178135055943, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3025916872520221, + "gripper_z": 1.1523722206961067, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23989242602448207, + 0.013333905383915781, + 1.1523722206961067 + ], + "object_minus_gripper": [ + 0.004691609257379492, + 0.004632662745199551, + 0.00680591435983624 + ], + "object_to_gripper_xy": 0.006593387713056831, + "object_to_gripper_z": 0.00680591435983624, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24458403528186157, + -0.0059285647149046284, + 1.159178135055943 + ], + "finger_b": [ + 0.23399349650301834, + 0.017966568129115332, + 1.159178135055943 + ], + "finger_midpoint": [ + 0.23928876589243997, + 0.006019001707105351, + 1.159178135055943 + ], + "object_minus_finger_midpoint": [ + 0.005295269389421597, + 0.01194756642200998, + 0.0 + ], + "finger_gap": 0.026136887443985055, + "fingertip_max_gap": 0.09053024376991636, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01306844372199252, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159178135055943, + "object_top_z": 1.2045071148976372, + "finger_top_clearance": 0.04532897984169426, + "fingertip_min_top_clearance": 0.013598693952508312, + "object_projection_between_fingers": 0.835816929159711, + "object_to_finger_line_xy": 0.009682190794621237, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047765121884958184, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.35871253581850454, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3348057448993662, + -0.3103795299267537, + 0.8470203571417003 + ], + "target_position": [ + 0.32762571609386504, + -0.31134178780096683, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007244222102083267, + "xy_threshold": 0.08, + "gripper_dist": 0.18557906015132544, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470203571417003, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522063271716768, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085127111760662, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15464876704244088, + "release_required_pad_clearance": 0.052563555880331, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18972697480727174, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007527709007263184, + "max_z_decrease": 0.007527709007263184, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505053940040603, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007527709007263184, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021473684391334232, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007527709007263184, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0075277272812627, + "max_button_displacement": 0.12, + "button_start": [ + 0.1833256483078003, + -0.36760324239730824, + 0.7768088579177856 + ], + "button_final": [ + 0.1833256483078003, + -0.36760324239730824, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18373519770202565, + -0.36941685704650984, + 0.8042821808708666 + ], + "closest_button": [ + 0.1833090782165527, + -0.367603987455368, + 0.7692811489105225 + ], + "closest_ee_minus_button": [ + 0.0004261194854729422, + -0.0018128695911418524, + 0.0350010319603441 + ], + "button_min_z_position": [ + 0.1833090782165527, + -0.367603987455368, + 0.7692811489105225 + ], + "min_active_finger_to_button": 0.14544753934120178, + "closest_active_finger": [ + 0.04322472959756851, + -0.35129958391189575, + 0.8085262775421143 + ], + "closest_active_finger_button": [ + 0.18333902955055237, + -0.36761084198951716, + 0.7730733156204224 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14011429995298386, + 0.016311258077621404, + 0.035452961921691895 + ], + "min_contact_pad_to_button": 0.021473684391334232, + "closest_contact_pad": [ + 0.1833090782165527, + -0.370788191609996, + 0.7905174377868841 + ], + "closest_contact_pad_button": [ + 0.1833090782165527, + -0.367603987455368, + 0.7692811489105225 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003184204154628001, + 0.021236288876361642 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9cbc8e74423671b84c1f2366f548339c709c8846efbb8f91b13e85d8962f1c74", + "visual_seed": 6119835056724042674, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..35fab7c41aca6e5a1c370877a8c88b2ddd3bf337 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24255813578385313, + 0.02510553620757144, + 1.1586845945469144 + ], + "current_z": 1.1586845945469144, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.30209808713834874, + "gripper_z": 1.15191958025755, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2376139832381724, + 0.020325761125383326, + 1.15191958025755 + ], + "object_minus_gripper": [ + 0.00494415254568073, + 0.004779775082188114, + 0.0067650142893644905 + ], + "object_to_gripper_xy": 0.006876837516712725, + "object_to_gripper_z": 0.0067650142893644905, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24255813578385313, + 0.0010664855774994305, + 1.1586845945469144 + ], + "finger_b": [ + 0.23171102201573465, + 0.02510553620757144, + 1.1586845945469144 + ], + "finger_midpoint": [ + 0.2371345788997939, + 0.013086010892535435, + 1.1586845945469144 + ], + "object_minus_finger_midpoint": [ + 0.0054235568840592385, + 0.012019525315036006, + 0.0 + ], + "finger_gap": 0.026373013333589147, + "fingertip_max_gap": 0.09048411180217172, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013186506666794573, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1586845945469144, + "object_top_z": 1.2040280936315828, + "finger_top_clearance": 0.04534349908466839, + "fingertip_min_top_clearance": 0.013603049725400518, + "object_projection_between_fingers": 0.830835635440236, + "object_to_finger_line_xy": 0.009887164343478713, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047742055901085864, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3177420658940278, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33401225821548675, + -0.30790719392228183, + 0.8470194964692189 + ], + "target_position": [ + 0.32628963383893517, + -0.3093030716760378, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007847764137940152, + "xy_threshold": 0.08, + "gripper_dist": 0.18716639660311518, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194964692189, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559238104468197, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537019543906608, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15517607540432032, + "release_required_pad_clearance": 0.052685097719533044, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.42612490856950824, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073577165603637695, + "max_z_decrease": 0.0073577165603637695, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505438590234651, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073577165603637695, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021200959878453194, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073577165603637695, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007357740219519417, + "max_button_displacement": 0.12, + "button_start": [ + 0.18198956549167633, + -0.36556452512741083, + 0.7768088579177856 + ], + "button_final": [ + 0.18198956549167633, + -0.36556452512741083, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1801949859037567, + -0.36516228209340823, + 0.8075057127268599 + ], + "closest_button": [ + 0.18197840452194214, + -0.36556893587112427, + 0.7724990844726562 + ], + "closest_ee_minus_button": [ + -0.0017834186181854284, + 0.0004066537777160373, + 0.03500662825420364 + ], + "button_min_z_position": [ + 0.18197162449359894, + -0.3655696511268615, + 0.7694511413574219 + ], + "min_active_finger_to_button": 0.1476147936904067, + "closest_active_finger": [ + 0.05330047756433487, + -0.4290064573287964, + 0.8078439235687256 + ], + "closest_active_finger_button": [ + 0.18199701607227323, + -0.36557069420814514, + 0.7731562852859497 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12869653850793836, + -0.06343576312065125, + 0.03468763828277588 + ], + "min_contact_pad_to_button": 0.021200959878453194, + "closest_contact_pad": [ + 0.18197162449359894, + -0.36640227656301494, + 0.7906357450745286 + ], + "closest_contact_pad_button": [ + 0.18197162449359894, + -0.3655696511268615, + 0.7694511413574219 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008326254361534224, + 0.02118460371710673 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dad2be79b23710c8da81cb41f565f236ea19cb2a944be521edd7c25656b8b270", + "visual_seed": 4246176086379251519, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8f220f69632fa065192bee3b9b182d87ba56e424 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24340676614693976, + 0.023761940399134727, + 1.1568587184193482 + ], + "current_z": 1.1568587184193482, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3002722706154274, + "gripper_z": 1.1501010451117593, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23850766780528954, + 0.019060958032039818, + 1.1501010451117593 + ], + "object_minus_gripper": [ + 0.0048990983416502265, + 0.004700982367094909, + 0.006757673307588918 + ], + "object_to_gripper_xy": 0.00678972751860465, + "object_to_gripper_z": 0.006757673307588918, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24340676614693976, + -0.000359900628427749, + 1.1568587184193482 + ], + "finger_b": [ + 0.23282677258193174, + 0.023761940399134727, + 1.1568587184193482 + ], + "finger_midpoint": [ + 0.23811676936443577, + 0.011701019885353488, + 1.1568587184193482 + ], + "object_minus_finger_midpoint": [ + 0.005289996782503997, + 0.012060920513781239, + 0.0 + ], + "finger_gap": 0.026340073621662633, + "fingertip_max_gap": 0.09030388508527407, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01317003681083131, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1568587184193482, + "object_top_z": 1.2021611139035109, + "finger_top_clearance": 0.045302395484162705, + "fingertip_min_top_clearance": 0.013590718645248811, + "object_projection_between_fingers": 0.8386619371714978, + "object_to_finger_line_xy": 0.009688998083812054, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047651942542637035, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.261603551050501, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.34092617122650903, + -0.30118263925811645, + 0.8470199052678771 + ], + "target_position": [ + 0.3324400568716251, + -0.30290521946179144, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008659181220084283, + "xy_threshold": 0.08, + "gripper_dist": 0.1869156433270064, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470199052678771, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574779328310538, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08661003364144547, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15462967169016512, + "release_required_pad_clearance": 0.053305016820722737, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6279452838843196, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007317602634429932, + "max_z_decrease": 0.007317602634429932, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504554081529685, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007317602634429932, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021252624456989833, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007317602634429932, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007317622954209741, + "max_button_displacement": 0.12, + "button_start": [ + 0.18813998997211454, + -0.35916668176651, + 0.7768088579177856 + ], + "button_final": [ + 0.18813998997211454, + -0.35916668176651, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18715715998175048, + -0.3575299070487157, + 0.8048776616815317 + ], + "closest_button": [ + 0.18812415003776545, + -0.3591698706150055, + 0.7698838710784912 + ], + "closest_ee_minus_button": [ + -0.0009669900560149713, + 0.0016399635662898149, + 0.03499379060304053 + ], + "button_min_z_position": [ + 0.1881230771541595, + -0.3591700494289398, + 0.7694912552833557 + ], + "min_active_finger_to_button": 0.14609347832924238, + "closest_active_finger": [ + 0.060683682560920715, + -0.42130035161972046, + 0.80833899974823 + ], + "closest_active_finger_button": [ + 0.18815226852893824, + -0.3591744303703308, + 0.7731902599334717 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12746858596801752, + -0.06212592124938965, + 0.0351487398147583 + ], + "min_contact_pad_to_button": 0.021252624456989833, + "closest_contact_pad": [ + 0.1881230771541595, + -0.3591700494289398, + 0.7907438797403455 + ], + "closest_contact_pad_button": [ + 0.1881230771541595, + -0.3591700494289398, + 0.7694912552833557 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021252624456989833 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69ee17a220075f5e2c7e14cf095806615e5626f10e0f82ab080d49030d5aa844", + "visual_seed": 4149307375135474817, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3fa339af7d0000f55a3ceb3ad91c3fdffe679eab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23656042887140674, + 0.026258024383567558, + 1.160355307157494 + ], + "current_z": 1.160355307157494, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30376879974892834, + "gripper_z": 1.1536957877223013, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23151899541589674, + 0.021526234505904907, + 1.1536957877223013 + ], + "object_minus_gripper": [ + 0.005041433455510003, + 0.004731789877662651, + 0.006659519435192607 + ], + "object_to_gripper_xy": 0.006914180120063857, + "object_to_gripper_z": 0.006659519435192607, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23656042887140674, + 0.0020460211188590453, + 1.160355307157494 + ], + "finger_b": [ + 0.22592994332961785, + 0.026258024383567558, + 1.160355307157494 + ], + "finger_midpoint": [ + 0.2312451861005123, + 0.014152022751213302, + 1.160355307157494 + ], + "object_minus_finger_midpoint": [ + 0.005315242770894429, + 0.012106001632354256, + 0.0 + ], + "finger_gap": 0.026442925801515197, + "fingertip_max_gap": 0.09047149825786258, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013221462900757593, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160355307157494, + "object_top_z": 1.205654820624332, + "finger_top_clearance": 0.04529951346683814, + "fingertip_min_top_clearance": 0.013589854040051441, + "object_projection_between_fingers": 0.8383829447081361, + "object_to_finger_line_xy": 0.009733618457170901, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773574912893129, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3379147227287844, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3326277411666976, + -0.31111214003484167, + 0.8470194842498754 + ], + "target_position": [ + 0.324141437131641, + -0.3126057686792753, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0086167443215457, + "xy_threshold": 0.08, + "gripper_dist": 0.1860728170396436, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194842498754, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541410109152627, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08587808956169928, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15461024944016258, + "release_required_pad_clearance": 0.05293904478084964, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9151361716825274, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007500827312469482, + "max_z_decrease": 0.007500827312469482, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035105670363933465, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007500827312469482, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02117266808060192, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007500827312469482, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007500849526407498, + "max_button_displacement": 0.12, + "button_start": [ + 0.1798413693904877, + -0.3688672184944153, + 0.7768088579177856 + ], + "button_final": [ + 0.1798413693904877, + -0.3688672184944153, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1802353280979865, + -0.3671868703339987, + 0.8075347969452796 + ], + "closest_button": [ + 0.17983026802539825, + -0.3688713908195495, + 0.7724719047546387 + ], + "closest_ee_minus_button": [ + 0.0004050600725882536, + 0.001684520485550789, + 0.03506289219064096 + ], + "button_min_z_position": [ + 0.17982375621795654, + -0.3688720166683197, + 0.7693080306053162 + ], + "min_active_finger_to_button": 0.1451158305723411, + "closest_active_finger": [ + 0.05383705347776413, + -0.4320027828216553, + 0.8109856843948364 + ], + "closest_active_finger_button": [ + 0.17984507977962494, + -0.36886930465698237, + 0.7764205932617188 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1260080263018608, + -0.06313347816467291, + 0.034565091133117676 + ], + "min_contact_pad_to_button": 0.02117266808060192, + "closest_contact_pad": [ + 0.17982375621795654, + -0.3688720166683197, + 0.7904806986859181 + ], + "closest_contact_pad_button": [ + 0.17982375621795654, + -0.3688720166683197, + 0.7693080306053162 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02117266808060192 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d636681feadad44320202906e9a734f4a24f24347fbdba26e225d5aeb592ccda", + "visual_seed": 1667543739484992712, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..da86f9da968e7cb01ca446bf7e9408b55891d864 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24484810936045898, + 0.0200780518558932, + 1.159571172096533 + ], + "current_z": 1.159571172096533, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30298466468796736, + "gripper_z": 1.1529277884715121, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.239857706403968, + 0.015205197285749622, + 1.1529277884715121 + ], + "object_minus_gripper": [ + 0.004990402956490975, + 0.0048728545701435776, + 0.006643383625020816 + ], + "object_to_gripper_xy": 0.006974871563686532, + "object_to_gripper_z": 0.006643383625020816, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24484810936045898, + -0.003966275663163094, + 1.159571172096533 + ], + "finger_b": [ + 0.23382742001922915, + 0.0200780518558932, + 1.159571172096533 + ], + "finger_midpoint": [ + 0.23933776468984408, + 0.008055888096365052, + 1.159571172096533 + ], + "object_minus_finger_midpoint": [ + 0.005510344670614897, + 0.012022163759528148, + 0.0 + ], + "finger_gap": 0.026449674466797215, + "fingertip_max_gap": 0.09054991029945803, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0132248372333986, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159571172096533, + "object_top_z": 1.2050029394140993, + "finger_top_clearance": 0.045431767317566374, + "fingertip_min_top_clearance": 0.01362953019526988, + "object_projection_between_fingers": 0.8263891520700061, + "object_to_finger_line_xy": 0.010018462205988343, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047774955149729015, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23990094147187807, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3314269233223557, + -0.3026019786397742, + 0.8470186346945826 + ], + "target_position": [ + 0.3236306295032734, + -0.3036861290893051, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007871313709329477, + "xy_threshold": 0.08, + "gripper_dist": 0.18933395706111872, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470186346945826, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751626251013067, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527847325597752, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1583860401752408, + "release_required_pad_clearance": 0.052639236627988764, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.33571304385969225, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007406294345855713, + "max_z_decrease": 0.007406294345855713, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502426591935516, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007406294345855713, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021262389848020678, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007406294345855713, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007406319104107985, + "max_button_displacement": 0.12, + "button_start": [ + 0.17933055758476255, + -0.3599475920200348, + 0.7768088579177856 + ], + "button_final": [ + 0.17933055758476255, + -0.3599475920200348, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18002786406565208, + -0.35870027124976755, + 0.8043971541084639 + ], + "closest_button": [ + 0.17931176722049708, + -0.3599512875080108, + 0.7694025635719299 + ], + "closest_ee_minus_button": [ + 0.0007160968451550009, + 0.0012510162582432538, + 0.034994590536533976 + ], + "button_min_z_position": [ + 0.17931176722049708, + -0.3599512875080108, + 0.7694025635719299 + ], + "min_active_finger_to_button": 0.14471973314342088, + "closest_active_finger": [ + 0.05272722244262695, + -0.42063194513320923, + 0.8081247806549072 + ], + "closest_active_finger_button": [ + 0.17934201657772061, + -0.3599541783332824, + 0.7730433940887451 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12661479413509366, + -0.06067776679992681, + 0.03508138656616211 + ], + "min_contact_pad_to_button": 0.021262389848020678, + "closest_contact_pad": [ + 0.17931176722049708, + -0.3599867708986329, + 0.7906649238119927 + ], + "closest_contact_pad_button": [ + 0.17931176722049708, + -0.3599512875080108, + 0.7694025635719299 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -3.548339062209305e-05, + 0.021262360240062783 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "48345f557ea3f08de7bb94173672f83dcb3fedadf2d945d75258bf8d64304302", + "visual_seed": 5212978922397935521, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b6c9c444583e20927eb745302996667807be783a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_64_success.json @@ -0,0 +1,700 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24122305962106563, + 0.016427274173554753, + 1.1605689478656942 + ], + "current_z": 1.1605689478656942, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3039825000617734, + "gripper_z": 1.1540082359404562, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23615856399400825, + 0.011418832603982645, + 1.1540082359404562 + ], + "object_minus_gripper": [ + 0.00506449562705738, + 0.005008441569572107, + 0.006560711925237994 + ], + "object_to_gripper_xy": 0.007122752481470996, + "object_to_gripper_z": 0.006560711925237994, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24122305962106563, + -0.007492267853092619, + 1.1605689478656942 + ], + "finger_b": [ + 0.2297800562490748, + 0.016427274173554753, + 1.1605689478656942 + ], + "finger_midpoint": [ + 0.23550155793507022, + 0.004467503160231067, + 1.1605689478656942 + ], + "object_minus_finger_midpoint": [ + 0.005721501685995417, + 0.011959771013323685, + 0.0 + ], + "finger_gap": 0.026515784297960025, + "fingertip_max_gap": 0.0904282528930219, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013257892148980013, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1605689478656942, + "object_top_z": 1.2059451269770052, + "finger_top_clearance": 0.04537617911131098, + "fingertip_min_top_clearance": 0.013612853733393326, + "object_projection_between_fingers": 0.8137608002066643, + "object_to_finger_line_xy": 0.010322583597440881, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04771412644651095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.07078342722545979, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.330662106895786, + -0.3066854214336453, + 0.8470195919335199 + ], + "target_position": [ + 0.3233061572023359, + -0.3078751388253151, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007451538322025207, + "xy_threshold": 0.08, + "gripper_dist": 0.1862114570108331, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195919335199, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578155610955167, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08568031962917254, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1539607158626542, + "release_required_pad_clearance": 0.05284015981458627, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7241537800783506, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00751572847366333, + "max_z_decrease": 0.00751572847366333, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500872353419448, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00751572847366333, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021265808082208352, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00751572847366333, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007515748471387273, + "max_button_displacement": 0.12, + "button_start": [ + 0.17900608479976649, + -0.3641366064548492, + 0.7768088579177856 + ], + "button_final": [ + 0.17900608479976649, + -0.3641366064548492, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17830249284805424, + -0.3633730151027792, + 0.8043507171540906 + ], + "closest_button": [ + 0.17898933589458463, + -0.3641403913497925, + 0.7693571448326111 + ], + "closest_ee_minus_button": [ + -0.0006868430465303832, + 0.000767376247013285, + 0.03499357232147948 + ], + "button_min_z_position": [ + 0.1789891719818115, + -0.36414042115211487, + 0.7692931294441223 + ], + "min_active_finger_to_button": 0.14618390985565444, + "closest_active_finger": [ + 0.05051083862781525, + -0.424318790435791, + 0.8080484867095947 + ], + "closest_active_finger_button": [ + 0.17901866137981412, + -0.3641447722911834, + 0.7729121446609497 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12850782275199887, + -0.0601740181446076, + 0.03513634204864502 + ], + "min_contact_pad_to_button": 0.021265808082208352, + "closest_contact_pad": [ + 0.1789891719818115, + -0.3647619162410166, + 0.7905498539623492 + ], + "closest_contact_pad_button": [ + 0.1789891719818115, + -0.36414042115211487, + 0.7692931294441223 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006214950889017468, + 0.02125672451822691 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f62fdbf6c71c361ec1890a3055ca8219124d6da6ce339c7dcd2baa33916c1989", + "visual_seed": 7850859948255407062, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f76f070e0102949c8ea8f58d604f6c5debd95c70 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_65_success.json @@ -0,0 +1,700 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23785496396912081, + 0.023914414883882306, + 1.1583064539999195 + ], + "current_z": 1.1583064539999195, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3017200061959987, + "gripper_z": 1.1518090183594385, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23284218319932518, + 0.01897424216783057, + 1.1518090183594385 + ], + "object_minus_gripper": [ + 0.005012780769795638, + 0.004940172716051735, + 0.006497435640480997 + ], + "object_to_gripper_xy": 0.007037988172088308, + "object_to_gripper_z": 0.006497435640480997, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23785496396912081, + -9.580939651877075e-06, + 1.1583064539999195 + ], + "finger_b": [ + 0.22657961232955878, + 0.023914414883882306, + 1.1583064539999195 + ], + "finger_midpoint": [ + 0.23221728814933978, + 0.011952416972115215, + 1.1583064539999195 + ], + "object_minus_finger_midpoint": [ + 0.0056376758197810295, + 0.011961997911767091, + 0.0 + ], + "finger_gap": 0.02644789463757475, + "fingertip_max_gap": 0.09058771441111699, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01322394731878738, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1583064539999195, + "object_top_z": 1.2036579354913384, + "finger_top_clearance": 0.04535148149141888, + "fingertip_min_top_clearance": 0.013605444447425662, + "object_projection_between_fingers": 0.8182485109459547, + "object_to_finger_line_xy": 0.010199354966823082, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047793857205558496, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23319504293284563, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 339, + "max_stable_success_frames": 339, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3310474309150412, + -0.30815720764840326, + 0.847019604863414 + ], + "target_position": [ + 0.3227597499395495, + -0.3093027975658697, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008366482666600578, + "xy_threshold": 0.08, + "gripper_dist": 0.18644101328284368, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019604863414, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515112439766612, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562869538835492, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15562614247619924, + "release_required_pad_clearance": 0.05281434769417746, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6702633057520797, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00752866268157959, + "max_z_decrease": 0.00752866268157959, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500603276330848, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00752866268157959, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02135213906302343, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00752866268157959, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007528687366962489, + "max_button_displacement": 0.12, + "button_start": [ + 0.17845967411994934, + -0.3655642569065093, + 0.7768088579177856 + ], + "button_final": [ + 0.17845967411994934, + -0.3655642569065093, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17772492182481706, + -0.36600735836347204, + 0.8074533940255293 + ], + "closest_button": [ + 0.17844948172569275, + -0.3655695021152496, + 0.7724575996398926 + ], + "closest_ee_minus_button": [ + -0.0007245599008756931, + -0.00043785624822245683, + 0.034995794385636714 + ], + "button_min_z_position": [ + 0.178440660238266, + -0.3655674457550048, + 0.769280195236206 + ], + "min_active_finger_to_button": 0.14700188769251696, + "closest_active_finger": [ + 0.036717310547828674, + -0.3485252261161804, + 0.8078608512878418 + ], + "closest_active_finger_button": [ + 0.17847029864788055, + -0.3655711710453033, + 0.7728596925735474 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14175298810005188, + 0.01704594492912287, + 0.035001158714294434 + ], + "min_contact_pad_to_button": 0.02135213906302343, + "closest_contact_pad": [ + 0.178440660238266, + -0.3675287564923942, + 0.7905420649272302 + ], + "closest_contact_pad_button": [ + 0.178440660238266, + -0.3655674457550048, + 0.769280195236206 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019613107373893657, + 0.02126186969102417 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ece9e07fa138e8badf1219ac3e2e6b19c8f0bb9426278f97465350d9d1554a88", + "visual_seed": 3326405816099349557, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8e87b12217a09abc2455fdf6ebf8ad809e12a671 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_66_success.json @@ -0,0 +1,700 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2391618250038072, + 0.01818460415878901, + 1.1596692487976743 + ], + "current_z": 1.1596692487976743, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3030828009937535, + "gripper_z": 1.153316789246112, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23408875227939008, + 0.013129067565980396, + 1.153316789246112 + ], + "object_minus_gripper": [ + 0.005073072724417121, + 0.005055536592808614, + 0.006352459551562273 + ], + "object_to_gripper_xy": 0.00716201906646805, + "object_to_gripper_z": 0.006352459551562273, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2391618250038072, + -0.005717482577740104, + 1.1596692487976743 + ], + "finger_b": [ + 0.22761713070356482, + 0.01818460415878901, + 1.1596692487976743 + ], + "finger_midpoint": [ + 0.23338947785368602, + 0.006233560790524452, + 1.1596692487976743 + ], + "object_minus_finger_midpoint": [ + 0.0057723471501211765, + 0.011951043368264557, + 0.0 + ], + "finger_gap": 0.026544108891552756, + "fingertip_max_gap": 0.09066416805475369, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01327205444577637, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1596692487976743, + "object_top_z": 1.205089576074823, + "finger_top_clearance": 0.04542032727714873, + "fingertip_min_top_clearance": 0.013626098183144586, + "object_projection_between_fingers": 0.8108403184160233, + "object_to_finger_line_xy": 0.010395613039355813, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783208402737685, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23074332861544958, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33783860223937867, + -0.3026050999566444, + 0.8470195136102059 + ], + "target_position": [ + 0.3303378931608068, + -0.3039241436093848, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007615806775332808, + "xy_threshold": 0.08, + "gripper_dist": 0.1856717222597153, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195136102059, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566034874146066, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496726056053759, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535531283663911, + "release_required_pad_clearance": 0.0524836302802688, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03954514035597518, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007500052452087402, + "max_z_decrease": 0.007500052452087402, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350378152506024, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007500052452087402, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021413100140517644, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007500052452087402, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0075000697906691515, + "max_button_displacement": 0.12, + "button_start": [ + 0.18603782355785364, + -0.3601855933666229, + 0.7768088579177856 + ], + "button_final": [ + 0.18603782355785364, + -0.3601855933666229, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18610657895723992, + -0.361897392636549, + 0.8070482681740896 + ], + "closest_button": [ + 0.18602624535560602, + -0.36018881201744074, + 0.7720522284507751 + ], + "closest_ee_minus_button": [ + 8.033360163389736e-05, + -0.0017085806191082797, + 0.03499603972331444 + ], + "button_min_z_position": [ + 0.1860224455595016, + -0.3601904511451721, + 0.7693088054656982 + ], + "min_active_finger_to_button": 0.14602857086082535, + "closest_active_finger": [ + 0.04479821026325226, + -0.34782811999320984, + 0.8079836368560791 + ], + "closest_active_finger_button": [ + 0.18605010211467737, + -0.3601913750171661, + 0.7730637788772583 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14125189185142512, + 0.012363255023956243, + 0.0349198579788208 + ], + "min_contact_pad_to_button": 0.021413100140517644, + "closest_contact_pad": [ + 0.1860224455595016, + -0.3630244601544734, + 0.7905335375149618 + ], + "closest_contact_pad_button": [ + 0.1860224455595016, + -0.3601904511451721, + 0.7693088054656982 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002834009009301308, + 0.02122473204926356 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "44634804a3567d295247469b79bf3eb2eb9e036a16a1ba9cfa81e6206601fd08", + "visual_seed": 6232844632712798134, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e0928398f92fd6e7e00b8a58439a1e3b69e559d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_67_success.json @@ -0,0 +1,700 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24276998277795084, + 0.02376477670403056, + 1.1579698812216646 + ], + "current_z": 1.1579698812216646, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.3013834930223884, + "gripper_z": 1.1513457117771984, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23779424256111312, + 0.01902522679914405, + 1.1513457117771984 + ], + "object_minus_gripper": [ + 0.004975740216837721, + 0.004739549904886512, + 0.006624169444466199 + ], + "object_to_gripper_xy": 0.006871777354248756, + "object_to_gripper_z": 0.006624169444466199, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24276998277795084, + -0.0004418086711956023, + 1.1579698812216646 + ], + "finger_b": [ + 0.23217192475665813, + 0.02376477670403056, + 1.1579698812216646 + ], + "finger_midpoint": [ + 0.23747095376730448, + 0.01166148401641748, + 1.1579698812216646 + ], + "object_minus_finger_midpoint": [ + 0.0052990290106463556, + 0.012103292687613081, + 0.0 + ], + "finger_gap": 0.026424942939404807, + "fingertip_max_gap": 0.09059094494707129, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013212471469702404, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1579698812216646, + "object_top_z": 1.203400497562831, + "finger_top_clearance": 0.04543061634116641, + "fingertip_min_top_clearance": 0.013629184902349921, + "object_projection_between_fingers": 0.8391487392426753, + "object_to_finger_line_xy": 0.00970835762606194, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779547247353565, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.36110869545829144, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33133801724847234, + -0.3022413305614513, + 0.8470195751476887 + ], + "target_position": [ + 0.32290617224835844, + -0.3038611630565256, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00858602745267242, + "xy_threshold": 0.08, + "gripper_dist": 0.18619017365493049, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195751476887, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577747012299435, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08845056955212825, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15384809638300187, + "release_required_pad_clearance": 0.05422528477606413, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.466729811073591, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007415950298309326, + "max_z_decrease": 0.007415950298309326, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502553439274858, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007415950298309326, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021259176147536918, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007415950298309326, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007415969405866012, + "max_button_displacement": 0.12, + "button_start": [ + 0.17860609292984006, + -0.36012262105941767, + 0.7768088579177856 + ], + "button_final": [ + 0.17860609292984006, + -0.36012262105941767, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17825802479279543, + -0.35877018140815986, + 0.804578962872197 + ], + "closest_button": [ + 0.17859017848968503, + -0.3601275980472564, + 0.7695813179016113 + ], + "closest_ee_minus_button": [ + -0.0003321536968896033, + 0.0013574166390965536, + 0.03499764497058566 + ], + "button_min_z_position": [ + 0.17859002947807306, + -0.3601276576519012, + 0.7693929076194763 + ], + "min_active_finger_to_button": 0.14559995826970568, + "closest_active_finger": [ + 0.05109873414039612, + -0.421123206615448, + 0.807900607585907 + ], + "closest_active_finger_button": [ + 0.1786161810159683, + -0.36012730002403254, + 0.7729986310005188 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12751744687557218, + -0.06099590659141546, + 0.034901976585388184 + ], + "min_contact_pad_to_button": 0.021259176147536918, + "closest_contact_pad": [ + 0.17859002947807306, + -0.3601276576519012, + 0.7906520837670132 + ], + "closest_contact_pad_button": [ + 0.17859002947807306, + -0.3601276576519012, + 0.7693929076194763 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021259176147536918 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9d980a2cbc63cb61a0d1b621f2342d807d3ff26daa30d8e95e7d86082afe6a6b", + "visual_seed": 6812157316401186031, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5784ff93aa00e9c0444a8d4ad9be651f847459e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_68_success.json @@ -0,0 +1,700 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24254781974255202, + 0.026326532136136564, + 1.159271005230335 + ], + "current_z": 1.159271005230335, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30268443821712465, + "gripper_z": 1.1525632057645936, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23781433012081926, + 0.021512103610841327, + 1.1525632057645936 + ], + "object_minus_gripper": [ + 0.004733489621732756, + 0.004814428525295237, + 0.006707799465741404 + ], + "object_to_gripper_xy": 0.006751640246949491, + "object_to_gripper_z": 0.006707799465741404, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24254781974255202, + 0.00255659367280789, + 1.159271005230335 + ], + "finger_b": [ + 0.2314870642368462, + 0.026326532136136564, + 1.159271005230335 + ], + "finger_midpoint": [ + 0.2370174419896991, + 0.014441562904472226, + 1.159271005230335 + ], + "object_minus_finger_midpoint": [ + 0.005530377752852922, + 0.011884969231664337, + 0.0 + ], + "finger_gap": 0.026217366132154342, + "fingertip_max_gap": 0.09059063076997448, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013108683066077176, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159271005230335, + "object_top_z": 1.2046842047989208, + "finger_top_clearance": 0.045413199568585805, + "fingertip_min_top_clearance": 0.013623959870575708, + "object_projection_between_fingers": 0.8220116952195624, + "object_to_finger_line_xy": 0.010028218563347601, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779531538498724, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3204585172330092, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3378492879375048, + -0.30268607283440485, + 0.8470193967967594 + ], + "target_position": [ + 0.33077993830314634, + -0.3036478669888399, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007134476312127574, + "xy_threshold": 0.08, + "gripper_dist": 0.1884285483039676, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193967967594, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543585930503673, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08586246281117092, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15676651655281093, + "release_required_pad_clearance": 0.05293123140558546, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8996095015257844, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0072893500328063965, + "max_z_decrease": 0.0072893500328063965, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507551716897515, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0072893500328063965, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021451731755041017, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0072893500328063965, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007289367936186284, + "max_button_displacement": 0.12, + "button_start": [ + 0.18647986650466913, + -0.35990932583808893, + 0.7768088579177856 + ], + "button_final": [ + 0.18647986650466913, + -0.35990932583808893, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1847657125878346, + -0.3614078369289305, + 0.8082252801980799 + ], + "closest_button": [ + 0.18649198114871976, + -0.35991719365119923, + 0.7732239961624146 + ], + "closest_ee_minus_button": [ + -0.001726268560885147, + -0.0014906432777312961, + 0.03500128403566538 + ], + "button_min_z_position": [ + 0.18646378815174097, + -0.3599109053611755, + 0.7695195078849792 + ], + "min_active_finger_to_button": 0.14793811030694065, + "closest_active_finger": [ + 0.04352414608001709, + -0.3454943895339966, + 0.8084073066711426 + ], + "closest_active_finger_button": [ + 0.18649198114871976, + -0.35991719365119923, + 0.7732239961624146 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14296783506870267, + 0.014422804117202648, + 0.03518331050872803 + ], + "min_contact_pad_to_button": 0.021451731755041017, + "closest_contact_pad": [ + 0.18646378815174097, + -0.3628552017954561, + 0.7907682234649224 + ], + "closest_contact_pad_button": [ + 0.18646378815174097, + -0.3599109053611755, + 0.7695195078849792 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029442964342806244, + 0.021248715579943123 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e83be998e0a347cede8d0c1d2aa0bb7d4fa4b2b40d4a1ad92ffdad8de423d22e", + "visual_seed": 5777214946271896127, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ca14026b448bdeecb23cf7e0695a8ee39a00a3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_69_success.json @@ -0,0 +1,700 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2397001495326954, + 0.020710554322689898, + 1.1584193578892212 + ], + "current_z": 1.1584193578892212, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30183291008530044, + "gripper_z": 1.1517649860559658, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2346830316356474, + 0.015978417206320303, + 1.1517649860559658 + ], + "object_minus_gripper": [ + 0.005017117897047979, + 0.004732137116369595, + 0.006654371833255457 + ], + "object_to_gripper_xy": 0.006896708902150495, + "object_to_gripper_z": 0.006654371833255457, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2397001495326954, + -0.0034349791734966306, + 1.1584193578892212 + ], + "finger_b": [ + 0.22900582322113497, + 0.020710554322689898, + 1.1584193578892212 + ], + "finger_midpoint": [ + 0.23435298637691518, + 0.008637787574596633, + 1.1584193578892212 + ], + "object_minus_finger_midpoint": [ + 0.00534716315578021, + 0.012072766748093265, + 0.0 + ], + "finger_gap": 0.026407866310506786, + "fingertip_max_gap": 0.09060919534962822, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013203933155253393, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1584193578892212, + "object_top_z": 1.203731816060621, + "finger_top_clearance": 0.04531245817139973, + "fingertip_min_top_clearance": 0.013593737451419919, + "object_projection_between_fingers": 0.8360013634635414, + "object_to_finger_line_xy": 0.009778155157964956, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780459767481411, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.40630403105339397, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3353639360362963, + -0.3046443043949491, + 0.8470195407924757 + ], + "target_position": [ + 0.3259860325552583, + -0.3065595029091074, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009571471101575652, + "xy_threshold": 0.08, + "gripper_dist": 0.18836935438896077, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195407924757, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569825441488855, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08654881324671625, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15621193297873817, + "release_required_pad_clearance": 0.053274406623358125, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5681917284584521, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007348358631134033, + "max_z_decrease": 0.007348358631134033, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502131132219902, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007348358631134033, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021419670386063818, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007348358631134033, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007348383199667275, + "max_button_displacement": 0.12, + "button_start": [ + 0.18168595433235168, + -0.36282095313072205, + 0.7768088579177856 + ], + "button_final": [ + 0.18168595433235168, + -0.36282095313072205, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18202213515360274, + -0.3641191571048754, + 0.8060353993564593 + ], + "closest_button": [ + 0.1816726177930832, + -0.3628241717815399, + 0.7710397839546204 + ], + "closest_ee_minus_button": [ + 0.0003495173605195523, + -0.0012949853233354958, + 0.03499561540183893 + ], + "button_min_z_position": [ + 0.18166735768318176, + -0.36282485723495483, + 0.7694604992866516 + ], + "min_active_finger_to_button": 0.1456811510502536, + "closest_active_finger": [ + 0.041058771312236786, + -0.3480452001094818, + 0.8081823587417603 + ], + "closest_active_finger_button": [ + 0.18169599771499634, + -0.36282676458358765, + 0.7731727361679077 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14063722640275955, + 0.014781564474105835, + 0.03500962257385254 + ], + "min_contact_pad_to_button": 0.021419670386063818, + "closest_contact_pad": [ + 0.18166735768318176, + -0.3653894940896295, + 0.7907260798630493 + ], + "closest_contact_pad_button": [ + 0.18166735768318176, + -0.36282485723495483, + 0.7694604992866516 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025646368546746734, + 0.021265580576397713 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ba2d89a28ab1641e06bc237de9b612731307f1689ad8c3ec85b3b22e196f00a4", + "visual_seed": 3651087365703433395, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d06e3ddf19c57eec1fc3a222ac00d43646a4a786 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_6_success.json @@ -0,0 +1,700 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23733337792930406, + 0.020586700543646242, + 1.1566600899912984 + ], + "current_z": 1.1566600899912984, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.30007364218737753, + "gripper_z": 1.1501498591093824, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.232325218294922, + 0.01573674347553526, + 1.1501498591093824 + ], + "object_minus_gripper": [ + 0.005008159634382059, + 0.004849957068110981, + 0.006510230881916046 + ], + "object_to_gripper_xy": 0.006971638723139166, + "object_to_gripper_z": 0.006510230881916046, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23733337792930406, + -0.0034102612745699474, + 1.1566600899912984 + ], + "finger_b": [ + 0.22627310389385646, + 0.020586700543646242, + 1.1566600899912984 + ], + "finger_midpoint": [ + 0.23180324091158028, + 0.008588219634538147, + 1.1566600899912984 + ], + "object_minus_finger_midpoint": [ + 0.005530137017723785, + 0.011998480909108095, + 0.0 + ], + "finger_gap": 0.02642316858826969, + "fingertip_max_gap": 0.09062989943943292, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013211584294134838, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1566600899912984, + "object_top_z": 1.201982131804432, + "finger_top_clearance": 0.045322041813133485, + "fingertip_min_top_clearance": 0.013596612543940045, + "object_projection_between_fingers": 0.8247887518467257, + "object_to_finger_line_xy": 0.01004470651735052, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781494971971646, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3647745204467884, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33728677451461986, + -0.3011754843230102, + 0.8470195732561647 + ], + "target_position": [ + 0.3291769818552973, + -0.30282844998250696, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008276535050894023, + "xy_threshold": 0.08, + "gripper_dist": 0.18717297050131898, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195732561647, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588026433114572, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549592090249857, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15479199208894878, + "release_required_pad_clearance": 0.052747960451249284, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5467953006233996, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007364392280578613, + "max_z_decrease": 0.007364392280578613, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505804094439547, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007364392280578613, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021487418927985495, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007364392280578613, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007364415411886264, + "max_button_displacement": 0.12, + "button_start": [ + 0.18487690389156342, + -0.3590899109840393, + 0.7768088579177856 + ], + "button_final": [ + 0.18487690389156342, + -0.3590899109840393, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18561433888767662, + -0.36106340069036097, + 0.8047024686823219 + ], + "closest_button": [ + 0.18485943973064423, + -0.3590931296348572, + 0.769707977771759 + ], + "closest_ee_minus_button": [ + 0.0007548991570323904, + -0.0019702710555037917, + 0.03499449091056284 + ], + "button_min_z_position": [ + 0.18485873937606812, + -0.35909318923950195, + 0.769444465637207 + ], + "min_active_finger_to_button": 0.14511972876019577, + "closest_active_finger": [ + 0.044748805463314056, + -0.34549015760421753, + 0.8083354234695435 + ], + "closest_active_finger_button": [ + 0.1848871409893036, + -0.35909685492515564, + 0.7731809020042419 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14013833552598953, + 0.01360669732093811, + 0.035154521465301514 + ], + "min_contact_pad_to_button": 0.021487418927985495, + "closest_contact_pad": [ + 0.18485873937606812, + -0.3622206585024643, + 0.7907030664424335 + ], + "closest_contact_pad_button": [ + 0.18485873937606812, + -0.35909318923950195, + 0.769444465637207 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003127469262962368, + 0.021258600805226457 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "868d4cc22f86136b516ade6f9a26d54817d795719ee781d490c725f16eecb6b3", + "visual_seed": 5309683665573073678, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..31f660a19456984a1471ba0a50a786c24b7d1783 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_70_success.json @@ -0,0 +1,700 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23789167575702644, + 0.015886245435973712, + 1.1571917940377778 + ], + "current_z": 1.1571917940377778, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30060528662921226, + "gripper_z": 1.1507053057672234, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23291140983283642, + 0.010960694155515371, + 1.1507053057672234 + ], + "object_minus_gripper": [ + 0.004980265924190014, + 0.004925551280458341, + 0.006486488270554425 + ], + "object_to_gripper_xy": 0.007004577367127371, + "object_to_gripper_z": 0.006486488270554425, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23789167575702644, + -0.008058627005811001, + 1.1571917940377778 + ], + "finger_b": [ + 0.22667730810064274, + 0.015886245435973712, + 1.1571917940377778 + ], + "finger_midpoint": [ + 0.2322844919288346, + 0.003913809215081355, + 1.1571917940377778 + ], + "object_minus_finger_midpoint": [ + 0.005607183828191836, + 0.011972436220892356, + 0.0 + ], + "finger_gap": 0.026440857743006103, + "fingertip_max_gap": 0.09051319129208474, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013220428871503046, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1571917940377778, + "object_top_z": 1.2025765080326445, + "finger_top_clearance": 0.045384713994866654, + "fingertip_min_top_clearance": 0.013615414198459996, + "object_projection_between_fingers": 0.8201135293786347, + "object_to_finger_line_xy": 0.010155744781706706, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775659564604237, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.08645557676036045, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3378870416982892, + -0.30876243123136377, + 0.8470196167935193 + ], + "target_position": [ + 0.33112304983701696, + -0.3094053055457015, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006794473731157725, + "xy_threshold": 0.08, + "gripper_dist": 0.18729432034431237, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196167935193, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751935776615541, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551930404066975, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15621220052977872, + "release_required_pad_clearance": 0.05275965202033488, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5692372297451366, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0077280402183532715, + "max_z_decrease": 0.0077280402183532715, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504783194166305, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0077280402183532715, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02123307842308234, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0077280402183532715, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007728060600998482, + "max_button_displacement": 0.12, + "button_start": [ + 0.18682298064231873, + -0.365666776895523, + 0.7768088579177856 + ], + "button_final": [ + 0.18682298064231873, + -0.365666776895523, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18520907375798712, + -0.3662539573208164, + 0.806274637755748 + ], + "closest_button": [ + 0.18680842220783234, + -0.36566987633705134, + 0.7712681889533997 + ], + "closest_ee_minus_button": [ + -0.001599348449845217, + -0.0005840809837650562, + 0.03500644880234838 + ], + "button_min_z_position": [ + 0.186805859208107, + -0.3656714558601379, + 0.7690808176994324 + ], + "min_active_finger_to_button": 0.14766472081494597, + "closest_active_finger": [ + 0.04392087459564209, + -0.352632075548172, + 0.8076815605163574 + ], + "closest_active_finger_button": [ + 0.18683326244354248, + -0.3656765222549438, + 0.7728855609893799 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1429123878479004, + 0.013044446706771795, + 0.03479599952697754 + ], + "min_contact_pad_to_button": 0.02123307842308234, + "closest_contact_pad": [ + 0.186805859208107, + -0.3672897850329301, + 0.790252133908144 + ], + "closest_contact_pad_button": [ + 0.186805859208107, + -0.3656714558601379, + 0.7690808176994324 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001618329172792199, + 0.0211713162087116 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b5198dc81fd1b865a3f943b448100b054754c38ceade432abb1dd3f85022839f", + "visual_seed": 4005487506696663634, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f950aeff438d0d3334331a5916bab1256d6ea985 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_71_success.json @@ -0,0 +1,700 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23840401398460406, + 0.023556894804537404, + 1.1603088409050148 + ], + "current_z": 1.1603088409050148, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3037223334964493, + "gripper_z": 1.1538705940486953, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23326514681972538, + 0.01861683512503963, + 1.1538705940486953 + ], + "object_minus_gripper": [ + 0.0051388671648786854, + 0.004940059679497774, + 0.006438246856319552 + ], + "object_to_gripper_xy": 0.007128263840183524, + "object_to_gripper_z": 0.006438246856319552, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23840401398460406, + -0.0005807336127994491, + 1.1603088409050148 + ], + "finger_b": [ + 0.22727339594154516, + 0.023556894804537404, + 1.1603088409050148 + ], + "finger_midpoint": [ + 0.23283870496307463, + 0.011488080595868977, + 1.1603088409050148 + ], + "object_minus_finger_midpoint": [ + 0.005565309021529435, + 0.012068814208668427, + 0.0 + ], + "finger_gap": 0.026580364249458584, + "fingertip_max_gap": 0.09065583353055076, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013290182124729285, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1603088409050148, + "object_top_z": 1.205740619236327, + "finger_top_clearance": 0.04543177833131207, + "fingertip_min_top_clearance": 0.01362953349939362, + "object_projection_between_fingers": 0.8246455855659206, + "object_to_finger_line_xy": 0.010107714095157051, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782791676527538, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.26250895491182485, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33512077981067084, + -0.30699888719255736, + 0.8470188432036566 + ], + "target_position": [ + 0.327006503621797, + -0.308200619035087, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008202782301797032, + "xy_threshold": 0.08, + "gripper_dist": 0.18705134430239043, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470188432036566, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513709286802267, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850976274231419, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15637136887892863, + "release_required_pad_clearance": 0.052548813711570955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16312102859493022, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007298648357391357, + "max_z_decrease": 0.007298648357391357, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499742629438082, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007298648357391357, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021319612340087106, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007298648357391357, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007298672781304216, + "max_button_displacement": 0.12, + "button_start": [ + 0.18270643055438995, + -0.3644620776176452, + 0.7768088579177856 + ], + "button_final": [ + 0.18270643055438995, + -0.3644620776176452, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18214846015532837, + -0.36476939341293696, + 0.8060825401619445 + ], + "closest_button": [ + 0.182693213224411, + -0.3644640147686004, + 0.7710906863212585 + ], + "closest_ee_minus_button": [ + -0.0005447530690826374, + -0.0003053786443365514, + 0.03499185384068593 + ], + "button_min_z_position": [ + 0.18268774449825287, + -0.3644647896289825, + 0.7695102095603943 + ], + "min_active_finger_to_button": 0.1466847541129478, + "closest_active_finger": [ + 0.04126004874706268, + -0.3479907512664795, + 0.808369517326355 + ], + "closest_active_finger_button": [ + 0.18271693587303164, + -0.3644694685935973, + 0.7732295393943787 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14145688712596896, + 0.01647871732711781, + 0.03513997793197632 + ], + "min_contact_pad_to_button": 0.021319612340087106, + "closest_contact_pad": [ + 0.18268774449825287, + -0.3661277803889749, + 0.7907648639227634 + ], + "closest_contact_pad_button": [ + 0.18268774449825287, + -0.3644647896289825, + 0.7695102095603943 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016629907599924332, + 0.021254654362369063 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c43aa8d01452bcd2cca903e08c190d58c492192c015613b59f3919a7599eeeb3", + "visual_seed": 5456405654677621808, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4ee89b30be90ce531a061076b26e48f8fa2d89f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_72_success.json @@ -0,0 +1,700 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23946928723736133, + 0.017189798680456194, + 1.1586350656178843 + ], + "current_z": 1.1586350656178843, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.3020486774186083, + "gripper_z": 1.1521022935386787, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2343213876430888, + 0.012369992587160039, + 1.1521022935386787 + ], + "object_minus_gripper": [ + 0.005147899594272531, + 0.004819806093296155, + 0.006532772079205662 + ], + "object_to_gripper_xy": 0.007052049419118249, + "object_to_gripper_z": 0.006532772079205662, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23946928723736133, + -0.007008150653525272, + 1.1586350656178843 + ], + "finger_b": [ + 0.2285951605371988, + 0.017189798680456194, + 1.1586350656178843 + ], + "finger_midpoint": [ + 0.23403222388728007, + 0.00509082401346546, + 1.1586350656178843 + ], + "object_minus_finger_midpoint": [ + 0.0054370633500812615, + 0.012098974666990734, + 0.0 + ], + "finger_gap": 0.02652899137662647, + "fingertip_max_gap": 0.09058116133128319, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013264495688313236, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1586350656178843, + "object_top_z": 1.2039749428471747, + "finger_top_clearance": 0.04533987722929034, + "fingertip_min_top_clearance": 0.0136019631687871, + "object_projection_between_fingers": 0.8319852923340738, + "object_to_finger_line_xy": 0.009918641956876703, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477905806656416, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.27230313584847854, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3391068047608001, + -0.30667311231814465, + 0.8470196294072128 + ], + "target_position": [ + 0.3298611870984343, + -0.30869143828762435, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009463354884908726, + "xy_threshold": 0.08, + "gripper_dist": 0.19036426153112557, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196294072128, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588336279143731, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08672461696823995, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15777565442952568, + "release_required_pad_clearance": 0.05336230848411998, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7395131551271148, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007572352886199951, + "max_z_decrease": 0.007572352886199951, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035051825020774245, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007572352886199951, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021260327475917072, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007572352886199951, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00757237695371339, + "max_button_displacement": 0.12, + "button_start": [ + 0.18556112051010132, + -0.36495289206504816, + 0.7768088579177856 + ], + "button_final": [ + 0.18556112051010132, + -0.36495289206504816, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18393833164418918, + -0.36577191776705487, + 0.8074295643330277 + ], + "closest_button": [ + 0.1855500340461731, + -0.3649576902389525, + 0.7724242806434631 + ], + "closest_ee_minus_button": [ + -0.001611702401983911, + -0.0008142275281023403, + 0.03500528368956457 + ], + "button_min_z_position": [ + 0.18554267287254333, + -0.36495780944824213, + 0.7692365050315857 + ], + "min_active_finger_to_button": 0.14774611767531107, + "closest_active_finger": [ + 0.042566023766994476, + -0.35185280442237854, + 0.807776153087616 + ], + "closest_active_finger_button": [ + 0.18556904792785647, + -0.36495909094810475, + 0.7730302810668945 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.143003024160862, + 0.013106286525726207, + 0.034745872020721436 + ], + "min_contact_pad_to_button": 0.021260327475917072, + "closest_contact_pad": [ + 0.18554267287254333, + -0.36689800456667665, + 0.7904081173293215 + ], + "closest_contact_pad_button": [ + 0.18554267287254333, + -0.36495780944824213, + 0.7692365050315857 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019401951184345179, + 0.021171612297735787 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cba49d98d86de74940f0fa8e0d444ae0b3035fc8615356e9949a5ba26ee652f0", + "visual_seed": 4745478221738313170, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cd6438bdca0ec523f64ba6a199364257b90f97c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_73_success.json @@ -0,0 +1,700 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23645007179635572, + 0.019745289854036004, + 1.1597960625229176 + ], + "current_z": 1.1597960625229176, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30320961471899677, + "gripper_z": 1.153192789412543, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23144450756243334, + 0.015039546471561957, + 1.153192789412543 + ], + "object_minus_gripper": [ + 0.005005564233922372, + 0.004705743382474047, + 0.006603273110374452 + ], + "object_to_gripper_xy": 0.006870203350820203, + "object_to_gripper_z": 0.006603273110374452, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23645007179635572, + -0.004410425691041804, + 1.1597960625229176 + ], + "finger_b": [ + 0.22581840890489635, + 0.019745289854036004, + 1.1597960625229176 + ], + "finger_midpoint": [ + 0.23113424035062602, + 0.007667432081497101, + 1.1597960625229176 + ], + "object_minus_finger_midpoint": [ + 0.005315831445729696, + 0.012077857772538904, + 0.0 + ], + "finger_gap": 0.026391870894886323, + "fingertip_max_gap": 0.09054984635013444, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013195935447443167, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597960625229176, + "object_top_z": 1.2051143126008035, + "finger_top_clearance": 0.045318250077885924, + "fingertip_min_top_clearance": 0.013595475023365777, + "object_projection_between_fingers": 0.8377211060414913, + "object_to_finger_line_xy": 0.009730853322225525, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777492317506722, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3108199039279176, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3316358384950757, + -0.3047956528446652, + 0.847019544890657 + ], + "target_position": [ + 0.32397295911344803, + -0.3058658966923169, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007737256769088835, + "xy_threshold": 0.08, + "gripper_dist": 0.18945411523300537, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019544890657, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530543634400971, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08574975880143697, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15812691398902506, + "release_required_pad_clearance": 0.052874879400718486, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7903052307020964, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007555603981018066, + "max_z_decrease": 0.007555603981018066, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505403866771098, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007555603981018066, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02148338034127306, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007555603981018066, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007555625878579614, + "max_button_displacement": 0.12, + "button_start": [ + 0.17967288196086884, + -0.36212736368179316, + 0.7768088579177856 + ], + "button_final": [ + 0.17967288196086884, + -0.36212736368179316, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18018572594249727, + -0.3638241044098386, + 0.8105229506623317 + ], + "closest_button": [ + 0.17968039214611053, + -0.36213225126266474, + 0.7755134105682373 + ], + "closest_ee_minus_button": [ + 0.000505333796386731, + -0.0016918531471738496, + 0.035009540094094405 + ], + "button_min_z_position": [ + 0.17965483665466309, + -0.362129658460617, + 0.7692532539367676 + ], + "min_active_finger_to_button": 0.14571005896810116, + "closest_active_finger": [ + 0.03929199278354645, + -0.34563106298446655, + 0.8081583976745605 + ], + "closest_active_finger_button": [ + 0.17968632280826569, + -0.36213561892509455, + 0.7728249430656433 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14039433002471924, + 0.016504555940627996, + 0.035333454608917236 + ], + "min_contact_pad_to_button": 0.02148338034127306, + "closest_contact_pad": [ + 0.17968632280826569, + -0.36213561892509455, + 0.7943083234069164 + ], + "closest_contact_pad_button": [ + 0.17968632280826569, + -0.36213561892509455, + 0.7728249430656433 + ], + "closest_contact_pad_index": 1, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02148338034127306 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "26a66251be1d3b309b1beab9dd1accbd7b1c8a214fe6edeed2619c50848774f3", + "visual_seed": 8665074387444180722, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f52cf3afec327039b1479ae4f06554f88559c57 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_74_success.json @@ -0,0 +1,700 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2377187053239781, + 0.02104058220602628, + 1.157879877413943 + ], + "current_z": 1.157879877413943, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30129342961002215, + "gripper_z": 1.151270818469645, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2326388271248135, + 0.01629649448533431, + 1.151270818469645 + ], + "object_minus_gripper": [ + 0.005079878199164584, + 0.004744087720691972, + 0.006609058944297974 + ], + "object_to_gripper_xy": 0.006950649668913545, + "object_to_gripper_z": 0.006609058944297974, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2377187053239781, + -0.0031856046227329814, + 1.157879877413943 + ], + "finger_b": [ + 0.22706150875606648, + 0.02104058220602628, + 1.157879877413943 + ], + "finger_midpoint": [ + 0.23239010704002228, + 0.00892748879164665, + 1.157879877413943 + ], + "object_minus_finger_midpoint": [ + 0.005328598283955821, + 0.012113093414379631, + 0.0 + ], + "finger_gap": 0.026466657645971392, + "fingertip_max_gap": 0.09057234178651935, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013233328822985701, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157879877413943, + "object_top_z": 1.2031997457992183, + "finger_top_clearance": 0.04531986838527535, + "fingertip_min_top_clearance": 0.013595960515582605, + "object_projection_between_fingers": 0.8378609018250848, + "object_to_finger_line_xy": 0.00975503739756644, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778617089325968, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3434882233000032, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 338, + "max_stable_success_frames": 338, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.338742119279443, + -0.30938323943283164, + 0.8470195366131908 + ], + "target_position": [ + 0.32959933652120316, + -0.31094444835438345, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009275119937828315, + "xy_threshold": 0.08, + "gripper_dist": 0.18870448893221828, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195366131908, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522239860021818, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537628168639542, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15771727552694711, + "release_required_pad_clearance": 0.052688140843197714, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4315998914013692, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007584333419799805, + "max_z_decrease": 0.007584333419799805, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035057540361955825, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007584333419799805, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02138964701414885, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007584333419799805, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007584356377198814, + "max_button_displacement": 0.12, + "button_start": [ + 0.18529926240444183, + -0.3672059178352356, + 0.7768088579177856 + ], + "button_final": [ + 0.18529926240444183, + -0.3672059178352356, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1834811167140112, + -0.3681888982150512, + 0.8080255304141708 + ], + "closest_button": [ + 0.18530920147895813, + -0.36721378564834595, + 0.7730292677879333 + ], + "closest_ee_minus_button": [ + -0.001828084764946919, + -0.0009751125667052385, + 0.03499626262623745 + ], + "button_min_z_position": [ + 0.18528077006340027, + -0.3672084212303161, + 0.7692245244979858 + ], + "min_active_finger_to_button": 0.14805924162519107, + "closest_active_finger": [ + 0.04226308315992355, + -0.35206326842308044, + 0.8080978989601135 + ], + "closest_active_finger_button": [ + 0.18530920147895813, + -0.36721378564834595, + 0.7730292677879333 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14304611831903458, + 0.015150517225265503, + 0.035068631172180176 + ], + "min_contact_pad_to_button": 0.02138964701414885, + "closest_contact_pad": [ + 0.18528077006340027, + -0.369618579486493, + 0.7904779509645599 + ], + "closest_contact_pad_button": [ + 0.18528077006340027, + -0.3672084212303161, + 0.7692245244979858 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024101582561769086, + 0.02125342646657402 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7cbc7c75a3cfcaad6abb7a18a3094451b576011636b68be62a78c48756b539b4", + "visual_seed": 5944279161826686746, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60238f33154545c8aba633935e5649c03ed8adad --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_75_success.json @@ -0,0 +1,700 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2434395377128087, + 0.023013076839558975, + 1.1575254285177732 + ], + "current_z": 1.1575254285177732, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3009389807138524, + "gripper_z": 1.15074929672935, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23858306874670623, + 0.018134900892542966, + 1.15074929672935 + ], + "object_minus_gripper": [ + 0.0048564689661024785, + 0.004878175947016009, + 0.006776131788423179 + ], + "object_to_gripper_xy": 0.006883450543787034, + "object_to_gripper_z": 0.006776131788423179, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2434395377128087, + -0.0008984209610198866, + 1.1575254285177732 + ], + "finger_b": [ + 0.2323642034620753, + 0.023013076839558975, + 1.1575254285177732 + ], + "finger_midpoint": [ + 0.237901870587442, + 0.011057327939269545, + 1.1575254285177732 + ], + "object_minus_finger_midpoint": [ + 0.005537667125366713, + 0.01195574890028943, + 0.0 + ], + "finger_gap": 0.02635190231904627, + "fingertip_max_gap": 0.09033091172403562, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01317595115952314, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1575254285177732, + "object_top_z": 1.2028825038472641, + "finger_top_clearance": 0.04535707532949096, + "fingertip_min_top_clearance": 0.01360712259884732, + "object_projection_between_fingers": 0.8233597218190157, + "object_to_finger_line_xy": 0.01004966652391082, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047665455862017814, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.12643120774702307, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3391056483152116, + -0.3085712073643572, + 0.847019797410745 + ], + "target_position": [ + 0.33236538610575467, + -0.3093007496120394, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00677962879097275, + "xy_threshold": 0.08, + "gripper_dist": 0.18599521076783385, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019797410745, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544368167013007, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08509044863997382, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15446476972446685, + "release_required_pad_clearance": 0.05254522431998691, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1582583974802869, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007596015930175781, + "max_z_decrease": 0.007596015930175781, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035066959232157614, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007596015930175781, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02147622511009295, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007596015930175781, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007596033906448719, + "max_button_displacement": 0.12, + "button_start": [ + 0.18806530535221094, + -0.36556220054626465, + 0.7768088579177856 + ], + "button_final": [ + 0.18806530535221094, + -0.36556220054626465, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18784674953217093, + -0.36731194921241445, + 0.8080454384922957 + ], + "closest_button": [ + 0.18807932734489438, + -0.3655678331851959, + 0.7730226516723633 + ], + "closest_ee_minus_button": [ + -0.00023257781272345568, + -0.001744116027218523, + 0.03502278681993243 + ], + "button_min_z_position": [ + 0.18804877996444697, + -0.3655622899532318, + 0.7692128419876099 + ], + "min_active_finger_to_button": 0.14655534576209098, + "closest_active_finger": [ + 0.04679737985134125, + -0.3497832417488098, + 0.8086418509483337 + ], + "closest_active_finger_button": [ + 0.18807932734489438, + -0.3655678331851959, + 0.7730226516723633 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14128194749355313, + 0.01578459143638611, + 0.03561919927597046 + ], + "min_contact_pad_to_button": 0.02147622511009295, + "closest_contact_pad": [ + 0.18807932734489438, + -0.3655678331851959, + 0.7944988767824562 + ], + "closest_contact_pad_button": [ + 0.18807932734489438, + -0.3655678331851959, + 0.7730226516723633 + ], + "closest_contact_pad_index": 1, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02147622511009295 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "beb427ea2dc42f4f1a0c83f8f1a00bfb7f57f5c9ca26c5cb10b2b3e6f82cd274", + "visual_seed": 1721353454400602358, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aaed3ffb8936cf6f545a037c408b545850c02319 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_76_success.json @@ -0,0 +1,700 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23584170825055828, + 0.0212204498084994, + 1.1603586960105219 + ], + "current_z": 1.1603586960105219, + "required_z": 0.8565863881992758, + "initial_z": 0.7565863881992758, + "lift_margin": 0.3037723078112461, + "gripper_z": 1.153740109844694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2310102010467037, + 0.016484723250288283, + 1.153740109844694 + ], + "object_minus_gripper": [ + 0.004831507203854585, + 0.004735726558211119, + 0.006618586165827889 + ], + "object_to_gripper_xy": 0.006765394880939683, + "object_to_gripper_z": 0.006618586165827889, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23584170825055828, + -0.0027736952949313277, + 1.1603586960105219 + ], + "finger_b": [ + 0.22510201181500775, + 0.0212204498084994, + 1.1603586960105219 + ], + "finger_midpoint": [ + 0.23047186003278303, + 0.009223377256784036, + 1.1603586960105219 + ], + "object_minus_finger_midpoint": [ + 0.005369848217775253, + 0.011997072551715365, + 0.0 + ], + "finger_gap": 0.026288021583456327, + "fingertip_max_gap": 0.09063550148197225, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013144010791728158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1603586960105219, + "object_top_z": 1.205684806251481, + "finger_top_clearance": 0.045326110240959006, + "fingertip_min_top_clearance": 0.013597833072287702, + "object_projection_between_fingers": 0.833095438340627, + "object_to_finger_line_xy": 0.009802557176975531, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047817750740986126, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3871075482630249, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33587323677489783, + -0.3046538737492054, + 0.8470196941071572 + ], + "target_position": [ + 0.3277292972855967, + -0.3062881565559875, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008306300662626068, + "xy_threshold": 0.08, + "gripper_dist": 0.1887944037488625, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196941071572, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565128964056829, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08627473238544352, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1567784724542447, + "release_required_pad_clearance": 0.05313736619272176, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2996328879026682, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0072348713874816895, + "max_z_decrease": 0.0072348713874816895, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035017459315138694, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0072348713874816895, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02124927760685977, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0072348713874816895, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0072348917355251, + "max_button_displacement": 0.12, + "button_start": [ + 0.18342922627925873, + -0.3625496029853821, + 0.7768088579177856 + ], + "button_final": [ + 0.18342922627925873, + -0.3625496029853821, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18271976407063664, + -0.3615740122659383, + 0.8065354487599437 + ], + "closest_button": [ + 0.18341612815856934, + -0.3625533878803253, + 0.7715386152267456 + ], + "closest_ee_minus_button": [ + -0.0006963640879326938, + 0.0009793756143869903, + 0.034996833533198046 + ], + "button_min_z_position": [ + 0.1834127604961395, + -0.3625544309616089, + 0.769573986530304 + ], + "min_active_finger_to_button": 0.14632496489430094, + "closest_active_finger": [ + 0.055889591574668884, + -0.4252009987831116, + 0.8081453442573547 + ], + "closest_active_finger_button": [ + 0.18344116210937497, + -0.36255529522895813, + 0.7732582688331604 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1275515705347061, + -0.06264570355415344, + 0.034887075424194336 + ], + "min_contact_pad_to_button": 0.02124927760685977, + "closest_contact_pad": [ + 0.1834127604961395, + -0.3628005974721464, + 0.7908218382067084 + ], + "closest_contact_pad_button": [ + 0.1834127604961395, + -0.3625544309616089, + 0.769573986530304 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002461665105374933, + 0.021247851676404417 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f7eb10e514f77cf98e40f5da5ba421ffca55c912107ae6ad2b1886c4cecfc731", + "visual_seed": 6974280814795992361, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..12eddc8f984ceb6dead12493ae5e61a72ae68127 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_77_success.json @@ -0,0 +1,700 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23561264970879334, + 0.0194062923583459, + 1.159977518754807 + ], + "current_z": 1.159977518754807, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30339101134624136, + "gripper_z": 1.153370966457928, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.230619380906896, + 0.014701767091298598, + 1.153370966457928 + ], + "object_minus_gripper": [ + 0.004993268801897349, + 0.004704525267047302, + 0.006606552296879009 + ], + "object_to_gripper_xy": 0.006860414806430284, + "object_to_gripper_z": 0.006606552296879009, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23561264970879334, + -0.004719676919399413, + 1.159977518754807 + ], + "finger_b": [ + 0.2249590556324361, + 0.0194062923583459, + 1.159977518754807 + ], + "finger_midpoint": [ + 0.23028585267061472, + 0.0073433077194732434, + 1.159977518754807 + ], + "object_minus_finger_midpoint": [ + 0.005326797038178621, + 0.012062984638872657, + 0.0 + ], + "finger_gap": 0.02637349920534825, + "fingertip_max_gap": 0.09055122526598605, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013186749602674125, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159977518754807, + "object_top_z": 1.2053016872493494, + "finger_top_clearance": 0.04532416849454246, + "fingertip_min_top_clearance": 0.013597250548362704, + "object_projection_between_fingers": 0.8368238132555377, + "object_to_finger_line_xy": 0.009745702736770018, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777561263299303, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3640443686986606, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33753470964072674, + -0.3066361113595945, + 0.847019659448623 + ], + "target_position": [ + 0.32869247064531176, + -0.30846218253245844, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.009028827519695005, + "xy_threshold": 0.08, + "gripper_dist": 0.18826073205731256, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019659448623, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075822915624372, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08749193161203615, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15581495791596567, + "release_required_pad_clearance": 0.05374596580601808, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5010883760143034, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007494509220123291, + "max_z_decrease": 0.007494509220123291, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508404077578846, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007494509220123291, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02145385666609445, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007494509220123291, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0074945341693526315, + "max_button_displacement": 0.12, + "button_start": [ + 0.1843923926353454, + -0.364723652601242, + 0.7768088579177856 + ], + "button_final": [ + 0.1843923926353454, + -0.364723652601242, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1825106508155387, + -0.3664592875765093, + 0.8078573311402576 + ], + "closest_button": [ + 0.18438628315925593, + -0.36473077535629267, + 0.7728661298751831 + ], + "closest_ee_minus_button": [ + -0.0018756323437172373, + -0.001728512220216638, + 0.03499120126507449 + ], + "button_min_z_position": [ + 0.18437339365482325, + -0.3647272586822509, + 0.7693143486976624 + ], + "min_active_finger_to_button": 0.14799596890056255, + "closest_active_finger": [ + 0.04126463085412979, + -0.3507968783378601, + 0.8080170750617981 + ], + "closest_active_finger_button": [ + 0.1844005435705184, + -0.36473202705383295, + 0.7730781435966492 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14313591271638862, + 0.013935148715972845, + 0.034938931465148926 + ], + "min_contact_pad_to_button": 0.02145385666609445, + "closest_contact_pad": [ + 0.18437339365482325, + -0.36782119045005, + 0.7905439401224997 + ], + "closest_contact_pad_button": [ + 0.18437339365482325, + -0.3647272586822509, + 0.7693143486976624 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030939317677990963, + 0.02122959142483738 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ec90f637202749a5bb2e9c99915c71fc2f6ed24333fc0b9111f9d5149ec0e461", + "visual_seed": 4232308565766428584, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c10563df86d5f1cc41dbfeacc053360b86820e9a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_78_success.json @@ -0,0 +1,700 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2446421789784225, + 0.019423458572074365, + 1.1586187881096413 + ], + "current_z": 1.1586187881096413, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30203234030572046, + "gripper_z": 1.1518663475487154, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2397961566751456, + 0.01449933430188538, + 1.1518663475487154 + ], + "object_minus_gripper": [ + 0.004846022303276909, + 0.004924124270188984, + 0.006752440560925832 + ], + "object_to_gripper_xy": 0.0069087576301475094, + "object_to_gripper_z": 0.006752440560925832, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2446421789784225, + -0.0042929605118568045, + 1.1586187881096413 + ], + "finger_b": [ + 0.23326564251906198, + 0.019423458572074365, + 1.1586187881096413 + ], + "finger_midpoint": [ + 0.23895391074874223, + 0.00756524903010878, + 1.1586187881096413 + ], + "object_minus_finger_midpoint": [ + 0.005688268229680271, + 0.011858209541965585, + 0.0 + ], + "finger_gap": 0.026303880245618014, + "fingertip_max_gap": 0.09060601954409181, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013151940122809014, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1586187881096413, + "object_top_z": 1.203989447200281, + "finger_top_clearance": 0.04537065909063975, + "fingertip_min_top_clearance": 0.013611197727191925, + "object_projection_between_fingers": 0.8129401900916247, + "object_to_finger_line_xy": 0.010257448858282598, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780300977204591, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.27950895768369405, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3328233651819651, + -0.3016700958183453, + 0.8470197450522947 + ], + "target_position": [ + 0.32514707769280016, + -0.3028980707524052, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0077738865476021405, + "xy_threshold": 0.08, + "gripper_dist": 0.1867480363297827, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197450522947, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574301216093098, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08583477793141013, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15440034732390392, + "release_required_pad_clearance": 0.05291738896570507, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8731185218679345, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007474720478057861, + "max_z_decrease": 0.007474720478057861, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500419678885894, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007474720478057861, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02131788423035871, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007474720478057861, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007474742543816407, + "max_button_displacement": 0.12, + "button_start": [ + 0.18084700405597687, + -0.3591595292091369, + 0.7768088579177856 + ], + "button_final": [ + 0.18084700405597687, + -0.3591595292091369, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18029415870828255, + -0.35951291481718833, + 0.8044588774179317 + ], + "closest_button": [ + 0.1808311641216278, + -0.3591620326042175, + 0.7694605588912964 + ], + "closest_ee_minus_button": [ + -0.000537005413345254, + -0.00035088221297086, + 0.034998318526635264 + ], + "button_min_z_position": [ + 0.18082909286022186, + -0.359162539243698, + 0.7693341374397278 + ], + "min_active_finger_to_button": 0.14655357552525675, + "closest_active_finger": [ + 0.052505187690258026, + -0.42045366764068604, + 0.8082742094993591 + ], + "closest_active_finger_button": [ + 0.1808604896068573, + -0.3591670989990233, + 0.77296382188797 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12835530191659927, + -0.06128656864166271, + 0.03531038761138916 + ], + "min_contact_pad_to_button": 0.02131788423035871, + "closest_contact_pad": [ + 0.18082909286022186, + -0.3609109362824217, + 0.79058020286027 + ], + "closest_contact_pad_button": [ + 0.18082909286022186, + -0.359162539243698, + 0.7693341374397278 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017483970387237036, + 0.021246065420542193 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c167aaa134732432cb2e07840add62fc1e0050a5cf1c983fdb109b45e3b77954", + "visual_seed": 2257457212718588925, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c228573b99692ad56e6bfa4ec97953b15b7a84ab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_79_success.json @@ -0,0 +1,700 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24370586252949292, + 0.020150696037266595, + 1.1586578600846524 + ], + "current_z": 1.1586578600846524, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30207141228073164, + "gripper_z": 1.1519281713436815, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23898265361084733, + 0.01544677238081682, + 1.1519281713436815 + ], + "object_minus_gripper": [ + 0.004723208918645583, + 0.004703923656449775, + 0.006729688740970907 + ], + "object_to_gripper_xy": 0.006666003319447194, + "object_to_gripper_z": 0.006729688740970907, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24370586252949292, + -0.003766717648096841, + 1.1586578600846524 + ], + "finger_b": [ + 0.233003230136214, + 0.020150696037266595, + 1.1586578600846524 + ], + "finger_midpoint": [ + 0.23835454633285347, + 0.008191989194584876, + 1.1586578600846524 + ], + "object_minus_finger_midpoint": [ + 0.00535131619663945, + 0.011958706842681719, + 0.0 + ], + "finger_gap": 0.0262028436919063, + "fingertip_max_gap": 0.09063166226768751, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013101421845953143, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1586578600846524, + "object_top_z": 1.2040588621681776, + "finger_top_clearance": 0.045401002083525155, + "fingertip_min_top_clearance": 0.013620300625057513, + "object_projection_between_fingers": 0.8331660757469407, + "object_to_finger_line_xy": 0.00976914145205895, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781583113384376, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3824031858614282, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 347, + "max_stable_success_frames": 347, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3317216624155075, + -0.3015971716326701, + 0.847019177441231 + ], + "target_position": [ + 0.32446528639475497, + -0.3026666994655242, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007334772166863933, + "xy_threshold": 0.08, + "gripper_dist": 0.18750039745729258, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019177441231, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754343941263551, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08535325639305118, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15591877270135832, + "release_required_pad_clearance": 0.05267662819652559, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4073398994442187, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007411360740661621, + "max_z_decrease": 0.007411360740661621, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511509641057102, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007411360740661621, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021187606014669735, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007411360740661621, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007411378151389465, + "max_button_displacement": 0.12, + "button_start": [ + 0.1801652163267135, + -0.3589281439781189, + 0.7768088579177856 + ], + "button_final": [ + 0.1801652163267135, + -0.3589281439781189, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1792683354598437, + -0.356951047655758, + 0.8075622796624597 + ], + "closest_button": [ + 0.18015471100807184, + -0.3589325845241547, + 0.7725143432617188 + ], + "closest_ee_minus_button": [ + -0.0008863755482281521, + 0.001981536868396694, + 0.035047936400741 + ], + "button_min_z_position": [ + 0.18015003204345698, + -0.35893338918685913, + 0.769397497177124 + ], + "min_active_finger_to_button": 0.14613121807718224, + "closest_active_finger": [ + 0.05275595933198929, + -0.4215551018714905, + 0.8109382390975952 + ], + "closest_active_finger_button": [ + 0.18016891181468958, + -0.35893014073371887, + 0.7763205170631409 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274129524827003, + -0.0626249611377716, + 0.034617722034454346 + ], + "min_contact_pad_to_button": 0.021187606014669735, + "closest_contact_pad": [ + 0.18015003204345698, + -0.35893338918685913, + 0.7905851031917938 + ], + "closest_contact_pad_button": [ + 0.18015003204345698, + -0.35893338918685913, + 0.769397497177124 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021187606014669735 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3cefd71167d03029395299a73129440cac553ed3878a838534608b0b82a83b3d", + "visual_seed": 5852581063369138243, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..296fc285b74422457cac1d55177575720f9c7ec7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_7_success.json @@ -0,0 +1,700 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23916125581206632, + 0.017574122054146154, + 1.1588209611832887 + ], + "current_z": 1.1588209611832887, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.3022345729840127, + "gripper_z": 1.1522286215578041, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23418705488944944, + 0.012848385528119136, + 1.1522286215578041 + ], + "object_minus_gripper": [ + 0.004974200922616884, + 0.004725736526027018, + 0.006592339625484556 + ], + "object_to_gripper_xy": 0.006861141343245202, + "object_to_gripper_z": 0.006592339625484556, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23916125581206632, + -0.00664284820259113, + 1.1588209611832887 + ], + "finger_b": [ + 0.22859847432139258, + 0.017574122054146154, + 1.1588209611832887 + ], + "finger_midpoint": [ + 0.23387986506672945, + 0.005465636925777511, + 1.1588209611832887 + ], + "object_minus_finger_midpoint": [ + 0.0052813907453368725, + 0.012108485128368643, + 0.0 + ], + "finger_gap": 0.02642033310227973, + "fingertip_max_gap": 0.09069550076964358, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013210166551139865, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1588209611832887, + "object_top_z": 1.20426488826955, + "finger_top_clearance": 0.045443927086261215, + "fingertip_min_top_clearance": 0.013633178125878364, + "object_projection_between_fingers": 0.8401620084089699, + "object_to_finger_line_xy": 0.009681882669601507, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047847750384821794, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.36788296952704813, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33603651712212923, + -0.3022397529414965, + 0.8470200781460062 + ], + "target_position": [ + 0.3279460707592701, + -0.30358845617432945, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008202092584246663, + "xy_threshold": 0.08, + "gripper_dist": 0.18765120429683277, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200781460062, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541378603692518, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578117947963719, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15621757263666755, + "release_required_pad_clearance": 0.0528905897398186, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8194767795914073, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007597684860229492, + "max_z_decrease": 0.007597684860229492, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502616683241177, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007597684860229492, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021271769301524635, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007597684860229492, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007597710220512658, + "max_button_displacement": 0.12, + "button_start": [ + 0.18364599347114557, + -0.35984990000724787, + 0.7768088579177856 + ], + "button_final": [ + 0.18364599347114557, + -0.35984990000724787, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1839721476263934, + -0.35841889936020804, + 0.8042062256926046 + ], + "closest_button": [ + 0.1836267858743667, + -0.3598539531230926, + 0.7692111730575562 + ], + "closest_ee_minus_button": [ + 0.00034536175202670716, + 0.0014350537628845528, + 0.03499505263504843 + ], + "button_min_z_position": [ + 0.1836267858743667, + -0.3598539531230926, + 0.7692111730575562 + ], + "min_active_finger_to_button": 0.14498408784890718, + "closest_active_finger": [ + 0.05733593553304672, + -0.4217928946018219, + 0.8078317642211914 + ], + "closest_active_finger_button": [ + 0.1836578100919723, + -0.35985749959945673, + 0.7728006839752197 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12632187455892557, + -0.06193539500236517, + 0.03503108024597168 + ], + "min_contact_pad_to_button": 0.021271769301524635, + "closest_contact_pad": [ + 0.1836267858743667, + -0.3598539531230926, + 0.7904829423590808 + ], + "closest_contact_pad_button": [ + 0.1836267858743667, + -0.3598539531230926, + 0.7692111730575562 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021271769301524635 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "918b66052501e6dcc7e6ddb1f363098050cc2cd03c3a9012c0547df9f561aed9", + "visual_seed": 413121471595941558, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ce2c8840432d6697001bf7d77f30707470cd8b3b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_80_success.json @@ -0,0 +1,700 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24282314055260912, + 0.016586404957659034, + 1.158969416893682 + ], + "current_z": 1.158969416893682, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30238296908976114, + "gripper_z": 1.1522840468939246, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23791582581965412, + 0.011639601610524589, + 1.1522840468939246 + ], + "object_minus_gripper": [ + 0.004907314732954998, + 0.004946803347134446, + 0.006685369999757329 + ], + "object_to_gripper_xy": 0.006967969664364057, + "object_to_gripper_z": 0.006685369999757329, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24282314055260912, + -0.007203105662517832, + 1.158969416893682 + ], + "finger_b": [ + 0.23144266577071473, + 0.016586404957659034, + 1.158969416893682 + ], + "finger_midpoint": [ + 0.2371329031616619, + 0.004691649647570601, + 1.158969416893682 + ], + "object_minus_finger_midpoint": [ + 0.005690237390947206, + 0.011894755310088434, + 0.0 + ], + "finger_gap": 0.026371500181234325, + "fingertip_max_gap": 0.09060477197131489, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318575009061717, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158969416893682, + "object_top_z": 1.2043580473955569, + "finger_top_clearance": 0.045388630501874916, + "fingertip_min_top_clearance": 0.013616589150562441, + "object_projection_between_fingers": 0.8137693798028058, + "object_to_finger_line_xy": 0.010266231493314305, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780238598565745, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.21366299311282588, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33256271529676107, + -0.30250870601667257, + 0.8470195627302594 + ], + "target_position": [ + 0.32527199616831587, + -0.3035617790143005, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007366379582142762, + "xy_threshold": 0.08, + "gripper_dist": 0.18674491637817622, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195627302594, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556353690679013, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08563536373173618, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15476333837079603, + "release_required_pad_clearance": 0.05281768186586809, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.680697506214177, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00748598575592041, + "max_z_decrease": 0.00748598575592041, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349964632777933, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00748598575592041, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02131114885446549, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00748598575592041, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007486011155695804, + "max_button_displacement": 0.12, + "button_start": [ + 0.18097192049026478, + -0.35982322692871094, + 0.7768088579177856 + ], + "button_final": [ + 0.18097192049026478, + -0.35982322692871094, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18054198285686684, + -0.35986065439130127, + 0.8054006043839236 + ], + "closest_button": [ + 0.18095578253269187, + -0.3598269522190094, + 0.7704066038131714 + ], + "closest_ee_minus_button": [ + -0.0004137996758250273, + -3.370217229187178e-05, + 0.03499400057075219 + ], + "button_min_z_position": [ + 0.18095280230045308, + -0.35982707142829895, + 0.7693228721618652 + ], + "min_active_finger_to_button": 0.1464090780778377, + "closest_active_finger": [ + 0.053235143423080444, + -0.4221924841403961, + 0.8079540729522705 + ], + "closest_active_finger_button": [ + 0.18098399043083183, + -0.3598293364048004, + 0.7729299664497375 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12774884700775138, + -0.0623631477355957, + 0.03502410650253296 + ], + "min_contact_pad_to_button": 0.02131114885446549, + "closest_contact_pad": [ + 0.18095280230045308, + -0.36118727330738776, + 0.7905905687072203 + ], + "closest_contact_pad_button": [ + 0.18095280230045308, + -0.35982707142829895, + 0.7693228721618652 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001360201879088807, + 0.021267696545355097 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "906b30bab41bdbae0cf4409e82ccae0ef296fe8ad4aa15f07fc18735ac5f09bb", + "visual_seed": 5373841462395549444, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..935a429be614baaac4034f593e31fb99916cae17 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_81_success.json @@ -0,0 +1,700 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24481011031330038, + 0.023389194361119962, + 1.1605171602641544 + ], + "current_z": 1.1605171602641544, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.3039305336462992, + "gripper_z": 1.1537162813073123, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24011789938078207, + 0.018706293947838154, + 1.1537162813073123 + ], + "object_minus_gripper": [ + 0.004692210932518315, + 0.004682900413281808, + 0.006800878956842116 + ], + "object_to_gripper_xy": 0.0066292080760796245, + "object_to_gripper_z": 0.006800878956842116, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24481011031330038, + -0.00047919822026102466, + 1.1605171602641544 + ], + "finger_b": [ + 0.23410374867252529, + 0.023389194361119962, + 1.1605171602641544 + ], + "finger_midpoint": [ + 0.23945692949291283, + 0.011454998070429469, + 1.1605171602641544 + ], + "object_minus_finger_midpoint": [ + 0.005353180820387549, + 0.011934196290690494, + 0.0 + ], + "finger_gap": 0.026159631954635436, + "fingertip_max_gap": 0.09034677061721255, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013079815977317718, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1605171602641544, + "object_top_z": 1.2059088200489732, + "finger_top_clearance": 0.04539165978481874, + "fingertip_min_top_clearance": 0.013617497935445621, + "object_projection_between_fingers": 0.8324977832758573, + "object_to_finger_line_xy": 0.009768625308009204, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767338530860628, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2423795538201572, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 349, + "max_stable_success_frames": 349, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33807327087914163, + -0.310266733138146, + 0.8470195390777139 + ], + "target_position": [ + 0.33054720747700667, + -0.31177123432020376, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00767496932500505, + "xy_threshold": 0.08, + "gripper_dist": 0.18840799996432459, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195390777139, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759087699006451, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08663554283150797, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15576775199905096, + "release_required_pad_clearance": 0.05331777141575399, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6532310882376435, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007670044898986816, + "max_z_decrease": 0.007670044898986816, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501127798043294, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007670044898986816, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021245825717328474, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007670044898986816, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0076700644512789655, + "max_button_displacement": 0.12, + "button_start": [ + 0.18624714016914368, + -0.36803269386291504, + 0.7768088579177856 + ], + "button_final": [ + 0.18624714016914368, + -0.36803269386291504, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1867366964822659, + -0.36745046778506985, + 0.804141562334764 + ], + "closest_button": [ + 0.1862298548221588, + -0.36803376674652094, + 0.7691388130187988 + ], + "closest_ee_minus_button": [ + 0.000506841660107088, + 0.0005832989614510953, + 0.03500274931596514 + ], + "button_min_z_position": [ + 0.1862298548221588, + -0.36803376674652094, + 0.7691388130187988 + ], + "min_active_finger_to_button": 0.14530536413773168, + "closest_active_finger": [ + 0.059380874037742615, + -0.42935600876808167, + 0.8083836436271667 + ], + "closest_active_finger_button": [ + 0.18626172840595243, + -0.36803957819938654, + 0.7729549407958984 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1268808543682098, + -0.061316430568695124, + 0.03542870283126831 + ], + "min_contact_pad_to_button": 0.021245825717328474, + "closest_contact_pad": [ + 0.1862298548221588, + -0.3687486142069097, + 0.7903726092766391 + ], + "closest_contact_pad_button": [ + 0.1862298548221588, + -0.36803376674652094, + 0.7691388130187988 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007148474603887456, + 0.021233796257840276 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d17dcf9210c830f673f79032f7eddbf51c326fac8603e97444001369c21e7d72", + "visual_seed": 6582275203505898311, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ab4adb0c4fb8a1ffe30ae4ee9c3e4867aa153255 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_82_success.json @@ -0,0 +1,700 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24095699410421575, + 0.020899189999052516, + 1.1595420276825883 + ], + "current_z": 1.1595420276825883, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.30295540106473307, + "gripper_z": 1.1527519143232752, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23616474144699195, + 0.016103547333258514, + 1.1527519143232752 + ], + "object_minus_gripper": [ + 0.0047922526572238, + 0.0047956426657940025, + 0.006790113359313121 + ], + "object_to_gripper_xy": 0.0067796662239856895, + "object_to_gripper_z": 0.006790113359313121, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24095699410421575, + -0.002929629207233282, + 1.1595420276825883 + ], + "finger_b": [ + 0.2299500797130449, + 0.020899189999052516, + 1.1595420276825883 + ], + "finger_midpoint": [ + 0.23545353690863033, + 0.008984780395909617, + 1.1595420276825883 + ], + "object_minus_finger_midpoint": [ + 0.005503457195585426, + 0.0119144096031429, + 0.0 + ], + "finger_gap": 0.026248138775547856, + "fingertip_max_gap": 0.09037087340655306, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013124069387773928, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1595420276825883, + "object_top_z": 1.2048460312316962, + "finger_top_clearance": 0.04530400354910791, + "fingertip_min_top_clearance": 0.013591201064732371, + "object_projection_between_fingers": 0.824153329288882, + "object_to_finger_line_xy": 0.009992395090908743, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768543670327653, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.16876247269727063, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3380966310706084, + -0.30688075369246437, + 0.8470198104922948 + ], + "target_position": [ + 0.33181109197433173, + -0.3072273985468721, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006295090498627463, + "xy_threshold": 0.08, + "gripper_dist": 0.18698092018223603, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198104922948, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752580222489042, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560223552309941, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15564835358810747, + "release_required_pad_clearance": 0.05280111776154971, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6477020109396298, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007498443126678467, + "max_z_decrease": 0.007498443126678467, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501445125077149, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007498443126678467, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021286233091652677, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007498443126678467, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007498460773156158, + "max_button_displacement": 0.12, + "button_start": [ + 0.1875110119581222, + -0.3634888529777526, + 0.7768088579177856 + ], + "button_final": [ + 0.1875110119581222, + -0.3634888529777526, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18627603201819498, + -0.36364871476601923, + 0.8047017917910694 + ], + "closest_button": [ + 0.18749521672725672, + -0.3634902536869048, + 0.7697089314460754 + ], + "closest_ee_minus_button": [ + -0.001219184709061738, + -0.00015846107911443585, + 0.03499286034499394 + ], + "button_min_z_position": [ + 0.18749479949474326, + -0.36349019408226, + 0.7693104147911072 + ], + "min_active_finger_to_button": 0.14711472804412049, + "closest_active_finger": [ + 0.05937529355287552, + -0.42659318447113037, + 0.8082818388938904 + ], + "closest_active_finger_button": [ + 0.18752348423004145, + -0.36349654197692866, + 0.7730739116668701 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12814819067716593, + -0.06309664249420172, + 0.035207927227020264 + ], + "min_contact_pad_to_button": 0.021286233091652677, + "closest_contact_pad": [ + 0.18749479949474326, + -0.36486469050649145, + 0.7905522244788891 + ], + "closest_contact_pad_button": [ + 0.18749479949474326, + -0.36349019408226, + 0.7693104147911072 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013744964242314306, + 0.021241809687781887 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "edb580340e162293050d01475cd9bce784c421513e08954f4f95214666b28ee0", + "visual_seed": 1672202806275175357, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f2dce988245b41894757880fd27688f24776ad17 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_83_success.json @@ -0,0 +1,700 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24015109036498591, + 0.01939414240708541, + 1.1589736969901063 + ], + "current_z": 1.1589736969901063, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30238724918618554, + "gripper_z": 1.1522622740840105, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23533103789693335, + 0.014682037684005625, + 1.1522622740840105 + ], + "object_minus_gripper": [ + 0.00482005246805256, + 0.004712104723079785, + 0.006711422906095832 + ], + "object_to_gripper_xy": 0.006740685181496789, + "object_to_gripper_z": 0.006711422906095832, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24015109036498591, + -0.004509197995573746, + 1.1589736969901063 + ], + "finger_b": [ + 0.22934433070019716, + 0.01939414240708541, + 1.1589736969901063 + ], + "finger_midpoint": [ + 0.23474771053259152, + 0.007442472205755832, + 1.1589736969901063 + ], + "object_minus_finger_midpoint": [ + 0.005403379832394389, + 0.011951670201329579, + 0.0 + ], + "finger_gap": 0.026232722635248954, + "fingertip_max_gap": 0.09064831579473973, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013116361317624482, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1589736969901063, + "object_top_z": 1.2042896271122416, + "finger_top_clearance": 0.045315930122135306, + "fingertip_min_top_clearance": 0.013594779036640591, + "object_projection_between_fingers": 0.8302912433953591, + "object_to_finger_line_xy": 0.009847153820399517, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047824157897369865, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.39048997455610024, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33446950800463726, + -0.30926529001677316, + 0.84701896667959 + ], + "target_position": [ + 0.3260230040135126, + -0.31081964256171124, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008588331706800836, + "xy_threshold": 0.08, + "gripper_dist": 0.1890032160071325, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.84701896667959, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532990508507963, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531030045986075, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1577032266185159, + "release_required_pad_clearance": 0.05265515022993038, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3647586526140043, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007658183574676514, + "max_z_decrease": 0.007658183574676514, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506602518167257, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007658183574676514, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02133477412619397, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007658183574676514, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007658203125300246, + "max_button_displacement": 0.12, + "button_start": [ + 0.18172292411327362, + -0.3670811057090759, + 0.7768088579177856 + ], + "button_final": [ + 0.18172292411327362, + -0.3670811057090759, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1831537285118349, + -0.3681976833033248, + 0.8045797135057853 + ], + "closest_button": [ + 0.18170452117919922, + -0.36708593368530273, + 0.7695612907409668 + ], + "closest_ee_minus_button": [ + 0.001449207332635677, + -0.0011117496180220732, + 0.03501842276481848 + ], + "button_min_z_position": [ + 0.18170632421970367, + -0.3670859932899475, + 0.7691506743431091 + ], + "min_active_finger_to_button": 0.14445147834006877, + "closest_active_finger": [ + 0.042227327823638916, + -0.35333508253097534, + 0.8078266382217407 + ], + "closest_active_finger_button": [ + 0.18173472583293915, + -0.36708712577819824, + 0.7729727029800415 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13950739800930023, + 0.0137520432472229, + 0.03485393524169922 + ], + "min_contact_pad_to_button": 0.02133477412619397, + "closest_contact_pad": [ + 0.18170632421970367, + -0.3692877823282963, + 0.7903715299348689 + ], + "closest_contact_pad_button": [ + 0.18170632421970367, + -0.3670859932899475, + 0.7691506743431091 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002201789038348778, + 0.02122085559175979 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "806a0e7e02fb1b0332c2ecdb26d8e6008b7782955b55b4af850e9af68b08cce9", + "visual_seed": 1899262380472710740, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..089654c13e3a43a50e6fcf02f54304261f2e39a8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_84_success.json @@ -0,0 +1,700 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24514565907336547, + 0.020204259955801062, + 1.1586778869421985 + ], + "current_z": 1.1586778869421985, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.3020914987429225, + "gripper_z": 1.151986198951655, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2401753251320281, + 0.015250196872644436, + 1.151986198951655 + ], + "object_minus_gripper": [ + 0.004970333941337363, + 0.0049540630831566256, + 0.006691687990543427 + ], + "object_to_gripper_xy": 0.007017617866506093, + "object_to_gripper_z": 0.006691687990543427, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24514565907336547, + -0.0036800563800381478, + 1.1586778869421985 + ], + "finger_b": [ + 0.23381719895555417, + 0.020204259955801062, + 1.1586778869421985 + ], + "finger_midpoint": [ + 0.23948142901445982, + 0.008262101787881457, + 1.1586778869421985 + ], + "object_minus_finger_midpoint": [ + 0.0056642300589056505, + 0.011942158167919605, + 0.0 + ], + "finger_gap": 0.026434722912700957, + "fingertip_max_gap": 0.09061638757839782, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013217361456350479, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1586778869421985, + "object_top_z": 1.2040621950114736, + "finger_top_clearance": 0.04538430806927507, + "fingertip_min_top_clearance": 0.013615292420782488, + "object_projection_between_fingers": 0.8163494492579726, + "object_to_finger_line_xy": 0.010235496923697374, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780819378919891, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2797556724889633, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33459129735033377, + -0.30486327509106703, + 0.8470197204885305 + ], + "target_position": [ + 0.3275968340530122, + -0.30572713608570284, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007047607582409196, + "xy_threshold": 0.08, + "gripper_dist": 0.1877013211526445, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197204885305, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542550281267008, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856112415109642, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15610667095387823, + "release_required_pad_clearance": 0.052805620755482105, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6572987034491272, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007623493671417236, + "max_z_decrease": 0.007623493671417236, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502284761151708, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007623493671417236, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02141201100933478, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007623493671417236, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007623512717482938, + "max_button_displacement": 0.12, + "button_start": [ + 0.18329675495624545, + -0.361988604068756, + 0.7768088579177856 + ], + "button_final": [ + 0.18329675495624545, + -0.361988604068756, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1830495000754776, + -0.3630651057489091, + 0.8078088103432782 + ], + "closest_button": [ + 0.18331007659435272, + -0.3619962334632873, + 0.7728032469749451 + ], + "closest_ee_minus_button": [ + -0.0002605765188751219, + -0.0010688722856218025, + 0.03500556336833316 + ], + "button_min_z_position": [ + 0.18327984213829043, + -0.3619906902313232, + 0.7691853642463684 + ], + "min_active_finger_to_button": 0.14658308993135916, + "closest_active_finger": [ + 0.041951969265937805, + -0.34592387080192566, + 0.8081043362617493 + ], + "closest_active_finger_button": [ + 0.18331007659435272, + -0.3619962334632873, + 0.7728032469749451 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14135810732841492, + 0.01607236266136164, + 0.0353010892868042 + ], + "min_contact_pad_to_button": 0.02141201100933478, + "closest_contact_pad": [ + 0.18327984213829043, + -0.36462897109297215, + 0.7904342157343649 + ], + "closest_contact_pad_button": [ + 0.18327984213829043, + -0.3619906902313232, + 0.7691853642463684 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026382808616489672, + 0.02124885148799649 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "197fe82415b14c358ad1f142929b2baed5dabdaad2c7024d49b881689ba2176e", + "visual_seed": 5285146595874340587, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4b13d2302039879069628bcc23da00d57e1568c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_85_success.json @@ -0,0 +1,700 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2408153679957536, + 0.016675743131315063, + 1.1575517382653637 + ], + "current_z": 1.1575517382653637, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3009651116475086, + "gripper_z": 1.1508772920157986, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23597631216326725, + 0.011821344389657568, + 1.1508772920157986 + ], + "object_minus_gripper": [ + 0.004839055832486339, + 0.004854398741657495, + 0.006674446249565147 + ], + "object_to_gripper_xy": 0.006854316048514682, + "object_to_gripper_z": 0.006674446249565147, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2408153679957536, + -0.007153683973825305, + 1.1575517382653637 + ], + "finger_b": [ + 0.22967963137925948, + 0.016675743131315063, + 1.1575517382653637 + ], + "finger_midpoint": [ + 0.23524749968750652, + 0.004761029578744878, + 1.1575517382653637 + ], + "object_minus_finger_midpoint": [ + 0.00556786830824707, + 0.011914713552570184, + 0.0 + ], + "finger_gap": 0.026302969911231055, + "fingertip_max_gap": 0.09042033349421405, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013151484955615534, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1575517382653637, + "object_top_z": 1.202899950299516, + "finger_top_clearance": 0.04534821203415218, + "fingertip_min_top_clearance": 0.013604463610245653, + "object_projection_between_fingers": 0.8207627283279562, + "object_to_finger_line_xy": 0.010088527069769577, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04771016674710703, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.12749596713916775, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33365037781822837, + -0.31060991198034094, + 0.8470195456890165 + ], + "target_position": [ + 0.3270196317625144, + -0.3112710172276551, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006663621643175164, + "xy_threshold": 0.08, + "gripper_dist": 0.18609307418839857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195456890165, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528861240136497, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557931714170657, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1547100937220737, + "release_required_pad_clearance": 0.052789658570853285, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6268232158365478, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00741952657699585, + "max_z_decrease": 0.00741952657699585, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509566104742568, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00741952657699585, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021433765341223272, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00741952657699585, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0074195441570867725, + "max_button_displacement": 0.12, + "button_start": [ + 0.18271955847740168, + -0.3675324618816375, + 0.7768088579177856 + ], + "button_final": [ + 0.18271955847740168, + -0.3675324618816375, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1804226573515588, + -0.36877298660330726, + 0.8081310850163461 + ], + "closest_button": [ + 0.18273085355758661, + -0.3675406575202942, + 0.7731330990791321 + ], + "closest_ee_minus_button": [ + -0.0023081962060278183, + -0.0012323290830130729, + 0.03499798593721404 + ], + "button_min_z_position": [ + 0.18270346522331232, + -0.3675338327884674, + 0.7693893313407898 + ], + "min_active_finger_to_button": 0.14849427460952364, + "closest_active_finger": [ + 0.03934904932975769, + -0.3514329493045807, + 0.8082436323165894 + ], + "closest_active_finger_button": [ + 0.18273085355758661, + -0.3675406575202942, + 0.7731330990791321 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14338180422782892, + 0.0161077082157135, + 0.035110533237457275 + ], + "min_contact_pad_to_button": 0.021433765341223272, + "closest_contact_pad": [ + 0.18270346522331232, + -0.37032947426018237, + 0.7906399945178356 + ], + "closest_contact_pad_button": [ + 0.18270346522331232, + -0.3675338327884674, + 0.7693893313407898 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027956414717149602, + 0.021250663177045825 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "249a34a66ec4434d0094a95253291619e77dd1686357e6b8fd003b280299c695", + "visual_seed": 4782783006560785217, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eeb195a0f09dba8edc6d783bcd127eb56dee1e84 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_86_success.json @@ -0,0 +1,700 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24321369255958863, + 0.017973051252527027, + 1.1590920329367573 + ], + "current_z": 1.1590920329367573, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30250552552819177, + "gripper_z": 1.1523155355147487, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23832438639608172, + 0.013159709890450386, + 1.1523155355147487 + ], + "object_minus_gripper": [ + 0.004889306163506912, + 0.004813341362076642, + 0.006776497422008587 + ], + "object_to_gripper_xy": 0.006861018133512292, + "object_to_gripper_z": 0.006776497422008587, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24321369255958863, + -0.0059393579108984705, + 1.1590920329367573 + ], + "finger_b": [ + 0.2322018772963185, + 0.017973051252527027, + 1.1590920329367573 + ], + "finger_midpoint": [ + 0.23770778492795358, + 0.006016846670814278, + 1.1590920329367573 + ], + "object_minus_finger_midpoint": [ + 0.005505907631635054, + 0.011956204581712749, + 0.0 + ], + "finger_gap": 0.026326097078592278, + "fingertip_max_gap": 0.09035824329477482, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013163048539296132, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1590920329367573, + "object_top_z": 1.204435995177744, + "finger_top_clearance": 0.04534396224098658, + "fingertip_min_top_clearance": 0.01360318867229594, + "object_projection_between_fingers": 0.8250375397136691, + "object_to_finger_line_xy": 0.010002205470156608, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767912164738741, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1288846993699886, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33440039085411294, + -0.30669088382004384, + 0.8470195493430972 + ], + "target_position": [ + 0.3271919126222546, + -0.3077776222216574, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007289935443659083, + "xy_threshold": 0.08, + "gripper_dist": 0.18484325690232567, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195493430972, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552569099209981, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08542106691321437, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15308204050486854, + "release_required_pad_clearance": 0.052710533456607186, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4747765062014745, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007504820823669434, + "max_z_decrease": 0.007504820823669434, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502061920891515, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007504820823669434, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021402668975058676, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007504820823669434, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007504841982909787, + "max_button_displacement": 0.12, + "button_start": [ + 0.18289184570312492, + -0.3640390932559967, + 0.7768088579177856 + ], + "button_final": [ + 0.18289184570312492, + -0.3640390932559967, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1831852515403492, + -0.36533516044672004, + 0.8048314002212715 + ], + "closest_button": [ + 0.18287461996078486, + -0.36404293775558466, + 0.7698360085487366 + ], + "closest_ee_minus_button": [ + 0.0003106315795643466, + -0.0012922226911353807, + 0.03499539167253496 + ], + "button_min_z_position": [ + 0.18287447094917292, + -0.3640430569648742, + 0.7693040370941162 + ], + "min_active_finger_to_button": 0.1455935525592339, + "closest_active_finger": [ + 0.04231549799442291, + -0.3496282696723938, + 0.8080652356147766 + ], + "closest_active_finger_button": [ + 0.1829016655683517, + -0.36404561996459955, + 0.773063063621521 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14058616757392878, + 0.014417350292205755, + 0.035002171993255615 + ], + "min_contact_pad_to_button": 0.021402668975058676, + "closest_contact_pad": [ + 0.18287447094917292, + -0.36651293968897547, + 0.7905637153274556 + ], + "closest_contact_pad_button": [ + 0.18287447094917292, + -0.3640430569648742, + 0.7693040370941162 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024698827241012578, + 0.021259678233339407 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7589f05d356a10bdd08857d0c4fac916c73332475e2571fdff605c8206670f8b", + "visual_seed": 494083263590335656, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c41784cd65102ae2a692084a73e455123793b5c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_87_success.json @@ -0,0 +1,700 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24101083404003, + 0.02030726176824684, + 1.1589167184554867 + ], + "current_z": 1.1589167184554867, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.30233027065156615, + "gripper_z": 1.1522839989977698, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2361029731246146, + 0.015410562303497646, + 1.1522839989977698 + ], + "object_minus_gripper": [ + 0.004907860915415396, + 0.004896699464749195, + 0.006632719457716929 + ], + "object_to_gripper_xy": 0.0069328756236598605, + "object_to_gripper_z": 0.006632719457716929, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24101083404003, + -0.0036699894123866463, + 1.1589167184554867 + ], + "finger_b": [ + 0.22993888698938755, + 0.02030726176824684, + 1.1589167184554867 + ], + "finger_midpoint": [ + 0.23547486051470878, + 0.008318636177930097, + 1.1589167184554867 + ], + "object_minus_finger_midpoint": [ + 0.005535973525321203, + 0.011988625590316744, + 0.0 + ], + "finger_gap": 0.02641016065213197, + "fingertip_max_gap": 0.09057609527461719, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013205080326065979, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1589167184554867, + "object_top_z": 1.2043686270653047, + "finger_top_clearance": 0.04545190860981796, + "fingertip_min_top_clearance": 0.013635572582945387, + "object_projection_between_fingers": 0.8242457181719036, + "object_to_finger_line_xy": 0.010051996994213552, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047788047637308595, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.19959925386370073, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33498051974548193, + -0.3069413180280194, + 0.8470200254570048 + ], + "target_position": [ + 0.32772907402889645, + -0.30800634744408034, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007329239567490004, + "xy_threshold": 0.08, + "gripper_dist": 0.1877464449781669, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200254570048, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551333925152194, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496812480868031, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15589856471707786, + "release_required_pad_clearance": 0.05248406240434016, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.039521140530204835, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007469356060028076, + "max_z_decrease": 0.007469356060028076, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501743026484221, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007469356060028076, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02141984225283771, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007469356060028076, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007469381754884987, + "max_button_displacement": 0.12, + "button_start": [ + 0.1834290027618408, + -0.3642677962779998, + 0.7768088579177856 + ], + "button_final": [ + 0.1834290027618408, + -0.3642677962779998, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18367581675794434, + -0.36537712064431555, + 0.8114571346289388 + ], + "closest_button": [ + 0.18343289196491236, + -0.36427089571952814, + 0.7764580249786377 + ], + "closest_ee_minus_button": [ + 0.0002429247930319789, + -0.0011062249247874023, + 0.03499910965030106 + ], + "button_min_z_position": [ + 0.18340961635112757, + -0.3642706274986266, + 0.7693395018577576 + ], + "min_active_finger_to_button": 0.14600680606023414, + "closest_active_finger": [ + 0.04250451922416687, + -0.34935271739959717, + 0.8082064986228943 + ], + "closest_active_finger_button": [ + 0.18344049155712122, + -0.3642744421958923, + 0.7731012105941772 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14093597233295435, + 0.01492172479629511, + 0.03510528802871704 + ], + "min_contact_pad_to_button": 0.02141984225283771, + "closest_contact_pad": [ + 0.18340961635112757, + -0.3668688256859849, + 0.7906011811967858 + ], + "closest_contact_pad_button": [ + 0.18340961635112757, + -0.3642706274986266, + 0.7693395018577576 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025981981873582916, + 0.021261679339028228 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "92b0e18e18ec4b3f8ec3c32f440d6e6f8495137fad7f7b8bd8e55112df231464", + "visual_seed": 4413327471473770002, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0b8d7b3562e7e7219cfd73a262275adf9cad0c92 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_88_success.json @@ -0,0 +1,700 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23705261202567723, + 0.021193402417355206, + 1.1582312005269637 + ], + "current_z": 1.1582312005269637, + "required_z": 0.8565862689899865, + "initial_z": 0.7565862689899865, + "lift_margin": 0.30164493153697725, + "gripper_z": 1.1516353400484844, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2321676288850157, + 0.01643146098649448, + 1.1516353400484844 + ], + "object_minus_gripper": [ + 0.004884983140661547, + 0.004761941430860728, + 0.006595860478479265 + ], + "object_to_gripper_xy": 0.006821960603484564, + "object_to_gripper_z": 0.006595860478479265, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23705261202567723, + -0.0028678656601901476, + 1.1582312005269637 + ], + "finger_b": [ + 0.22630857514963915, + 0.021193402417355206, + 1.1582312005269637 + ], + "finger_midpoint": [ + 0.2316805935876582, + 0.00916276837858253, + 1.1582312005269637 + ], + "object_minus_finger_midpoint": [ + 0.005372018438019044, + 0.012030634038772676, + 0.0 + ], + "finger_gap": 0.02635107113369719, + "fingertip_max_gap": 0.0906590502365392, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013175535566848594, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1582312005269637, + "object_top_z": 1.2036843996722424, + "finger_top_clearance": 0.04545319914527868, + "fingertip_min_top_clearance": 0.013635959743583602, + "object_projection_between_fingers": 0.8337588885558441, + "object_to_finger_line_xy": 0.009810422893162843, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478295251182696, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3285057569147145, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33009582024031114, + -0.306326918886574, + 0.8470198978611003 + ], + "target_position": [ + 0.32276587902814247, + -0.30717786701123206, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00737917006747425, + "xy_threshold": 0.08, + "gripper_dist": 0.18429014969245472, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198978611003, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524528616979222, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08505671211586417, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1531927731602649, + "release_required_pad_clearance": 0.05252835605793209, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.12511065130634424, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074967145919799805, + "max_z_decrease": 0.0074967145919799805, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350308685001293, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074967145919799805, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021260460419247767, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074967145919799805, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007496732950239274, + "max_button_displacement": 0.12, + "button_start": [ + 0.17846579849719996, + -0.3634393215179442, + 0.7768088579177856 + ], + "button_final": [ + 0.17846579849719996, + -0.3634393215179442, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1767772824802862, + -0.36274229288887583, + 0.8042960770444473 + ], + "closest_button": [ + 0.1784494668245315, + -0.3634422421455383, + 0.7693121433258057 + ], + "closest_ee_minus_button": [ + -0.0016721843442452922, + 0.0006999492566624466, + 0.03498393371864161 + ], + "button_min_z_position": [ + 0.1784494668245315, + -0.3634422421455383, + 0.7693121433258057 + ], + "min_active_finger_to_button": 0.1470427414641215, + "closest_active_finger": [ + 0.04892679303884506, + -0.42351335287094116, + 0.8080253005027771 + ], + "closest_active_finger_button": [ + 0.17847606539726255, + -0.3634468913078307, + 0.772945761680603 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12954927235841748, + -0.06006646156311046, + 0.03507953882217407 + ], + "min_contact_pad_to_button": 0.021260460419247767, + "closest_contact_pad": [ + 0.1784494668245315, + -0.36414117897428017, + 0.7905611118783691 + ], + "closest_contact_pad_button": [ + 0.1784494668245315, + -0.3634422421455383, + 0.7693121433258057 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006989368287418918, + 0.02124896855256342 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "65e942234bd39e68200964840fca473f1665df89da35597a22858ba6e1407dd5", + "visual_seed": 3814655504504214220, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1981cab65311aff4a505a62d5941c5558afe9127 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_89_success.json @@ -0,0 +1,700 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23539698334942138, + 0.018673278484577466, + 1.1566702827491135 + ], + "current_z": 1.1566702827491135, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.3000837157359031, + "gripper_z": 1.150227552233434, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23045059007001673, + 0.013866693608016664, + 1.150227552233434 + ], + "object_minus_gripper": [ + 0.0049463932794046594, + 0.004806584876560802, + 0.006442730515679562 + ], + "object_to_gripper_xy": 0.00689710552696728, + "object_to_gripper_z": 0.006442730515679562, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23539698334942138, + -0.005293539963625908, + 1.1566702827491135 + ], + "finger_b": [ + 0.22441722840500583, + 0.018673278484577466, + 1.1566702827491135 + ], + "finger_midpoint": [ + 0.2299071058772136, + 0.006689869260475779, + 1.1566702827491135 + ], + "object_minus_finger_midpoint": [ + 0.005489877472207777, + 0.011983409224101687, + 0.0 + ], + "finger_gap": 0.026362158583252613, + "fingertip_max_gap": 0.09060204858544438, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013181079291626306, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1566702827491135, + "object_top_z": 1.2019988534013086, + "finger_top_clearance": 0.04532857065219509, + "fingertip_min_top_clearance": 0.013598571195658526, + "object_projection_between_fingers": 0.8265304075828598, + "object_to_finger_line_xy": 0.009982103420231486, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04780102429272219, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.329706210236138, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33740536008817734, + -0.3016790834855648, + 0.8470183277408088 + ], + "target_position": [ + 0.33016757596149165, + -0.30264430386482666, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007301860683760383, + "xy_threshold": 0.08, + "gripper_dist": 0.18472705116628638, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470183277408088, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550230020152195, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861921791478482, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15305544664016255, + "release_required_pad_clearance": 0.0530960895739241, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.21496557702028, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007364988327026367, + "max_z_decrease": 0.007364988327026367, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500436522078327, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007364988327026367, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021342946258165418, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007364988327026367, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007365010584248594, + "max_button_displacement": 0.12, + "button_start": [ + 0.18586750328540805, + -0.35890576243400574, + 0.7768088579177856 + ], + "button_final": [ + 0.18586750328540805, + -0.35890576243400574, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1861833767866115, + -0.3596059116788776, + 0.8047028236965069 + ], + "closest_button": [ + 0.18584996461868286, + -0.3589100241661072, + 0.7697069644927979 + ], + "closest_ee_minus_button": [ + 0.00033341216792864836, + -0.0006958875127704434, + 0.03499585920370907 + ], + "button_min_z_position": [ + 0.1858499199151993, + -0.35891008377075195, + 0.7694438695907593 + ], + "min_active_finger_to_button": 0.14561184691972068, + "closest_active_finger": [ + 0.0452251210808754, + -0.34503573179244995, + 0.8081952333450317 + ], + "closest_active_finger_button": [ + 0.18587829172611242, + -0.3589129745960235, + 0.7731678485870361 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14065317064523702, + 0.013877242803573553, + 0.035027384757995605 + ], + "min_contact_pad_to_button": 0.021342946258165418, + "closest_contact_pad": [ + 0.1858499199151993, + -0.36066980778389574, + 0.7907141475949722 + ], + "closest_contact_pad_button": [ + 0.1858499199151993, + -0.35891008377075195, + 0.7694438695907593 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001759724013143782, + 0.021270278004212884 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9e81460e4627307583896946680ec508c168d5ef6e5aa24b79577205ce30ac31", + "visual_seed": 5869607430893200735, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..491122fe0d167d8954bff3eff6dde2e9e461ba56 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_8_success.json @@ -0,0 +1,700 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2426795166272243, + 0.015318296699004473, + 1.1604984000096081 + ], + "current_z": 1.1604984000096081, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.30391189260104245, + "gripper_z": 1.153763582681608, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2377423740847694, + 0.010366843261131242, + 1.153763582681608 + ], + "object_minus_gripper": [ + 0.00493714254245492, + 0.0049514534378732305, + 0.006734817328000187 + ], + "object_to_gripper_xy": 0.006992300596509339, + "object_to_gripper_z": 0.006734817328000187, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2426795166272243, + -0.008475094533316014, + 1.1604984000096081 + ], + "finger_b": [ + 0.23127618107293912, + 0.015318296699004473, + 1.1604984000096081 + ], + "finger_midpoint": [ + 0.23697784885008172, + 0.0034216010828442295, + 1.1604984000096081 + ], + "object_minus_finger_midpoint": [ + 0.005701667777142594, + 0.011896695616160243, + 0.0 + ], + "finger_gap": 0.0263848730923211, + "fingertip_max_gap": 0.09051971527441693, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01319243654616055, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1604984000096081, + "object_top_z": 1.205822535632122, + "finger_top_clearance": 0.045324135622513806, + "fingertip_min_top_clearance": 0.013597240686754141, + "object_projection_between_fingers": 0.8132099282778238, + "object_to_finger_line_xy": 0.010283317385957107, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775985763720847, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.29446787616879727, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33737672635027227, + -0.30358499019224616, + 0.8470196522193283 + ], + "target_position": [ + 0.3311697435033198, + -0.30388295072001903, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0062141303927800715, + "xy_threshold": 0.08, + "gripper_dist": 0.18386292158068868, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196522193283, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518029839022711, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863150273155343, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15286379535114636, + "release_required_pad_clearance": 0.05315751365776715, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3387911903107939, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00723952054977417, + "max_z_decrease": 0.00723952054977417, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035023543228375136, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00723952054977417, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02124188243509373, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00723952054977417, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007239538639871551, + "max_button_displacement": 0.12, + "button_start": [ + 0.186869665980339, + -0.36014440655708313, + 0.7768088579177856 + ], + "button_final": [ + 0.186869665980339, + -0.36014440655708313, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18628648262196368, + -0.35891481390630076, + 0.8045666305024353 + ], + "closest_button": [ + 0.18685358762741083, + -0.36014625430107117, + 0.7695693373680115 + ], + "closest_ee_minus_button": [ + -0.0005671050054471549, + 0.0012314403947704111, + 0.03499729313442379 + ], + "button_min_z_position": [ + 0.18685358762741083, + -0.36014625430107117, + 0.7695693373680115 + ], + "min_active_finger_to_button": 0.14592000816698142, + "closest_active_finger": [ + 0.05932004749774933, + -0.4215741753578186, + 0.8085697889328003 + ], + "closest_active_finger_button": [ + 0.1868824660778045, + -0.3601517379283905, + 0.7732461094856262 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12756241858005518, + -0.0614224374294281, + 0.03532367944717407 + ], + "min_contact_pad_to_button": 0.02124188243509373, + "closest_contact_pad": [ + 0.18685358762741083, + -0.36014625430107117, + 0.7908112198031052 + ], + "closest_contact_pad_button": [ + 0.18685358762741083, + -0.36014625430107117, + 0.7695693373680115 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02124188243509373 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09995d83a04a68f2996df862f9c45ad5feaaaebe97940142351dbfbddc7ba2bb", + "visual_seed": 8286715723336754671, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a3122f9b75e22bcb221042fe58d07d8c37857053 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_90_success.json @@ -0,0 +1,700 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2392164896557723, + 0.024413905477477658, + 1.1596978057568528 + ], + "current_z": 1.1596978057568528, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3031112983482872, + "gripper_z": 1.1530051922740099, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23445194783193013, + 0.01964071575349992, + 1.1530051922740099 + ], + "object_minus_gripper": [ + 0.004764541823842172, + 0.0047731897239777395, + 0.006692613482842891 + ], + "object_to_gripper_xy": 0.006744197426842425, + "object_to_gripper_z": 0.006692613482842891, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2392164896557723, + 0.0004823691788826852, + 1.1596978057568528 + ], + "finger_b": [ + 0.22839004056943463, + 0.024413905477477658, + 1.1596978057568528 + ], + "finger_midpoint": [ + 0.23380326511260346, + 0.012448137328180172, + 1.1596978057568528 + ], + "object_minus_finger_midpoint": [ + 0.0054132245431688375, + 0.011965768149297486, + 0.0 + ], + "finger_gap": 0.026266526786578207, + "fingertip_max_gap": 0.09056149054173823, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013133263393289104, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1596978057568528, + "object_top_z": 1.2051454752381594, + "finger_top_clearance": 0.04544766948130663, + "fingertip_min_top_clearance": 0.013634300844391989, + "object_projection_between_fingers": 0.8301104070509056, + "object_to_finger_line_xy": 0.009864020523146343, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778074527086912, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2853152810796198, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 348, + "max_stable_success_frames": 348, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3325874275387206, + -0.30946257175521297, + 0.8470197492917204 + ], + "target_position": [ + 0.3258545930542036, + -0.31017065971541213, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006769966673129222, + "xy_threshold": 0.08, + "gripper_dist": 0.18569486632606444, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197492917204, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752423240638304, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857072155370857, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15444957628508302, + "release_required_pad_clearance": 0.05285360776854285, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.749644960367096, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073792338371276855, + "max_z_decrease": 0.0073792338371276855, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034996983824108555, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073792338371276855, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021272616764638114, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073792338371276855, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007379251287713298, + "max_button_displacement": 0.12, + "button_start": [ + 0.18155452609062195, + -0.3664321303367614, + 0.7768088579177856 + ], + "button_final": [ + 0.18155452609062195, + -0.3664321303367614, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18206117987713208, + -0.36622380362904927, + 0.804422077662182 + ], + "closest_button": [ + 0.18153852224349976, + -0.3664333224296569, + 0.769429624080658 + ], + "closest_ee_minus_button": [ + 0.000522657633632323, + 0.00020951880060765538, + 0.03499245358152403 + ], + "button_min_z_position": [ + 0.18153852224349976, + -0.3664333224296569, + 0.769429624080658 + ], + "min_active_finger_to_button": 0.1453903223016107, + "closest_active_finger": [ + 0.05451133847236633, + -0.4277079403400421, + 0.8083792328834534 + ], + "closest_active_finger_button": [ + 0.1815674751996994, + -0.36643928289413447, + 0.7731480598449707 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12705613672733307, + -0.06126865744590765, + 0.035231173038482666 + ], + "min_contact_pad_to_button": 0.021272616764638114, + "closest_contact_pad": [ + 0.18153852224349976, + -0.3675591210749398, + 0.7906724299552462 + ], + "closest_contact_pad_button": [ + 0.18153852224349976, + -0.3664333224296569, + 0.769429624080658 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011257986452828939, + 0.021242805874588266 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99d737ce72d76e96beb821960b386bb2ad495b09921bc0b464a2b8b7a35a25b9", + "visual_seed": 7067625726080042532, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a7c91ee3271bb7a74a80780facac69a624f608d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_91_success.json @@ -0,0 +1,700 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2438329561528895, + 0.016814515245371146, + 1.1585155862162486 + ], + "current_z": 1.1585155862162486, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3019291384123278, + "gripper_z": 1.1517178453383123, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23909404124152253, + 0.01225130271881597, + 1.1517178453383123 + ], + "object_minus_gripper": [ + 0.004738914911366965, + 0.004563212526555175, + 0.006797740877936276 + ], + "object_to_gripper_xy": 0.0065787706374129075, + "object_to_gripper_z": 0.006797740877936276, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2438329561528895, + -0.007227052677597107, + 1.1585155862162486 + ], + "finger_b": [ + 0.2334993924502034, + 0.016814515245371146, + 1.1585155862162486 + ], + "finger_midpoint": [ + 0.23866617430154646, + 0.004793731283887019, + 1.1585155862162486 + ], + "object_minus_finger_midpoint": [ + 0.005166781851343033, + 0.012020783961484127, + 0.0 + ], + "finger_gap": 0.026168292397330165, + "fingertip_max_gap": 0.09055844454131148, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013084146198665077, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1585155862162486, + "object_top_z": 1.2038102277674878, + "finger_top_clearance": 0.04529464155123919, + "fingertip_min_top_clearance": 0.01358839246537179, + "object_projection_between_fingers": 0.8440628923786547, + "object_to_finger_line_xy": 0.009493744179876014, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047779222270655744, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4646201797977864, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 344, + "max_stable_success_frames": 344, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3350748665096286, + -0.3019048018517849, + 0.8470195837005714 + ], + "target_position": [ + 0.3271682476470322, + -0.30324273264583773, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00801901993064241, + "xy_threshold": 0.08, + "gripper_dist": 0.18658929295809096, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195837005714, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556206714293999, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08661325464832657, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1547462552420455, + "release_required_pad_clearance": 0.05330662732416329, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6313073931780315, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007501840591430664, + "max_z_decrease": 0.007501840591430664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503997053736807, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007501840591430664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021242644538203792, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007501840591430664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00750186093678331, + "max_button_displacement": 0.12, + "button_start": [ + 0.18286816775798792, + -0.35950419306755066, + 0.7768088579177856 + ], + "button_final": [ + 0.18286816775798792, + -0.35950419306755066, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1820363096383889, + -0.35806594630325755, + 0.8043078634285371 + ], + "closest_button": [ + 0.18285092711448667, + -0.3595070242881775, + 0.769307017326355 + ], + "closest_ee_minus_button": [ + -0.000814617476097762, + 0.0014410779849199362, + 0.035000846102182126 + ], + "button_min_z_position": [ + 0.18285092711448667, + -0.3595070242881775, + 0.769307017326355 + ], + "min_active_finger_to_button": 0.1460574241714858, + "closest_active_finger": [ + 0.054407186806201935, + -0.41930514574050903, + 0.8083174228668213 + ], + "closest_active_finger_button": [ + 0.18288253247737882, + -0.35951071977615356, + 0.7729411125183105 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12847534567117688, + -0.05979442596435547, + 0.03537631034851074 + ], + "min_contact_pad_to_button": 0.021242644538203792, + "closest_contact_pad": [ + 0.18285092711448667, + -0.3595070242881775, + 0.7905496618645588 + ], + "closest_contact_pad_button": [ + 0.18285092711448667, + -0.3595070242881775, + 0.769307017326355 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021242644538203792 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3ca6dc02b6073f231c73897c3d358eb41982e99598c3d2193a87e42c21231d85", + "visual_seed": 3540650209325024534, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d0def2540f74465beaa5db4b3cf2eb3761611a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_92_success.json @@ -0,0 +1,700 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24212175993528776, + 0.018026560239036288, + 1.1604816222013283 + ], + "current_z": 1.1604816222013283, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30389511479276277, + "gripper_z": 1.153730573711718, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2372508911853829, + 0.013385020970247963, + 1.153730573711718 + ], + "object_minus_gripper": [ + 0.004870868749904861, + 0.004641539268788325, + 0.0067510484896102785 + ], + "object_to_gripper_xy": 0.0067282426503882725, + "object_to_gripper_z": 0.0067510484896102785, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24212175993528776, + -0.00607913590742505, + 1.1604816222013283 + ], + "finger_b": [ + 0.2316376596465859, + 0.018026560239036288, + 1.1604816222013283 + ], + "finger_midpoint": [ + 0.2368797097909368, + 0.005973712165805618, + 1.1604816222013283 + ], + "object_minus_finger_midpoint": [ + 0.005242050144350946, + 0.01205284807323067, + 0.0 + ], + "finger_gap": 0.0262868968417552, + "fingertip_max_gap": 0.09055066246427704, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013143448420877606, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1604816222013283, + "object_top_z": 1.20577869252031, + "finger_top_clearance": 0.04529707031898167, + "fingertip_min_top_clearance": 0.013589121095694467, + "object_projection_between_fingers": 0.840931680964581, + "object_to_finger_line_xy": 0.00961416394829203, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777533123213852, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.41772898410606096, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33302363986403755, + -0.30804002443608036, + 0.8470200014212725 + ], + "target_position": [ + 0.3250794354169832, + -0.30956385806555725, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008089032898123408, + "xy_threshold": 0.08, + "gripper_dist": 0.18762966449703306, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470200014212725, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575095256860856, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08633466173084119, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1552548017973353, + "release_required_pad_clearance": 0.053167330865420595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3527440652959621, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007525742053985596, + "max_z_decrease": 0.007525742053985596, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035043915231789353, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007525742053985596, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021314713542056746, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007525742053985596, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0075257632043999, + "max_button_displacement": 0.12, + "button_start": [ + 0.18077936768531794, + -0.36582532525062555, + 0.7768088579177856 + ], + "button_final": [ + 0.18077936768531794, + -0.36582532525062555, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18193780001726015, + -0.3666230267366855, + 0.8045003088494105 + ], + "closest_button": [ + 0.18076136708259577, + -0.3658303916454315, + 0.7694851160049438 + ], + "closest_ee_minus_button": [ + 0.0011764329346643787, + -0.0007926350912539903, + 0.035015192844466636 + ], + "button_min_z_position": [ + 0.18076221644878382, + -0.3658302426338195, + 0.7692831158638 + ], + "min_active_finger_to_button": 0.14473043297941715, + "closest_active_finger": [ + 0.04108179360628128, + -0.3512899577617645, + 0.8079275488853455 + ], + "closest_active_finger_button": [ + 0.18079222738742823, + -0.3658312857151031, + 0.7730500102043152 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13971043378114695, + 0.014541327953338568, + 0.03487753868103027 + ], + "min_contact_pad_to_button": 0.021314713542056746, + "closest_contact_pad": [ + 0.18076221644878382, + -0.36774990717184614, + 0.790511208134218 + ], + "closest_contact_pad_button": [ + 0.18076221644878382, + -0.3658302426338195, + 0.7692831158638 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019196645380266109, + 0.021228092270417998 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "56dedb984eb5a0328fdde916142df0572db30525f77bc77148b4ae43f38aa5f8", + "visual_seed": 6683469203291108149, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f412625af350081f94cc326488fbfdad8ada5362 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_93_success.json @@ -0,0 +1,700 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24249931904547806, + 0.02206526492632435, + 1.1590508468488427 + ], + "current_z": 1.1590508468488427, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3024642202309876, + "gripper_z": 1.1525215043642865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23743936131153073, + 0.01701387181839971, + 1.1525215043642865 + ], + "object_minus_gripper": [ + 0.005059957733947323, + 0.005051393107924643, + 0.0065293424845562775 + ], + "object_to_gripper_xy": 0.007149807312097432, + "object_to_gripper_z": 0.0065293424845562775, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24249931904547806, + -0.0018279941962457897, + 1.1590508468488427 + ], + "finger_b": [ + 0.23096260709805122, + 0.02206526492632435, + 1.1590508468488427 + ], + "finger_midpoint": [ + 0.23673096307176464, + 0.010118635365039281, + 1.1590508468488427 + ], + "object_minus_finger_midpoint": [ + 0.005768355973713418, + 0.01194662956128507, + 0.0 + ], + "finger_gap": 0.026532688406118637, + "fingertip_max_gap": 0.09052725005109971, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013266344203059319, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1590508468488427, + "object_top_z": 1.2044600723712893, + "finger_top_clearance": 0.04540922552244653, + "fingertip_min_top_clearance": 0.013622767656733958, + "object_projection_between_fingers": 0.8109391593155326, + "object_to_finger_line_xy": 0.01038905834806974, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776362502554986, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1493441250725378, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33352628913467336, + -0.3110565338873182, + 0.8470194083492362 + ], + "target_position": [ + 0.32579532879318573, + -0.3124554777071371, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007856512687742826, + "xy_threshold": 0.08, + "gripper_dist": 0.18767386684577558, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194083492362, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577396179914711, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496550682164632, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15526686903051892, + "release_required_pad_clearance": 0.05248275341082316, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.039564488406466015, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007530689239501953, + "max_z_decrease": 0.007530689239501953, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350929696567315, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007530689239501953, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02114321365464805, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007530689239501953, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00753071458391446, + "max_button_displacement": 0.12, + "button_start": [ + 0.18149524927139282, + -0.36871692538261414, + 0.7768088579177856 + ], + "button_final": [ + 0.18149524927139282, + -0.36871692538261414, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17998575361343516, + -0.3683798322384224, + 0.8077868384537867 + ], + "closest_button": [ + 0.1814853847026825, + -0.36872339248657227, + 0.7727276086807251 + ], + "closest_ee_minus_button": [ + -0.001499631089247333, + 0.00034356024814985453, + 0.03505922977306164 + ], + "button_min_z_position": [ + 0.18147628009319303, + -0.368721604347229, + 0.7692781686782837 + ], + "min_active_finger_to_button": 0.14735714092058663, + "closest_active_finger": [ + 0.053752511739730835, + -0.4335743486881256, + 0.8108826875686646 + ], + "closest_active_finger_button": [ + 0.1814979612827301, + -0.3687189817428589, + 0.7764006853103638 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12774544954299927, + -0.06485536694526672, + 0.03448200225830078 + ], + "min_contact_pad_to_button": 0.02114321365464805, + "closest_contact_pad": [ + 0.18147628009319303, + -0.369461970554098, + 0.7904084157550649 + ], + "closest_contact_pad_button": [ + 0.18147628009319303, + -0.368721604347229, + 0.7692781686782837 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007403662068690142, + 0.02113024707678124 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b32610eb1fea2eaae59d8c857555edf50c15d2a979fb62f9a1c10ef59ff489ba", + "visual_seed": 4824658670513123316, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..069f3369a3585b53652fc932d01fa36305434cc8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_94_success.json @@ -0,0 +1,700 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24372246590043745, + 0.023242874367791162, + 1.1573256405780226 + ], + "current_z": 1.1573256405780226, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.30073925237874655, + "gripper_z": 1.150585757120028, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23885257202235638, + 0.018380987338503588, + 1.150585757120028 + ], + "object_minus_gripper": [ + 0.004869893878081066, + 0.004861887029287575, + 0.006739883457994589 + ], + "object_to_gripper_xy": 0.006881410601709958, + "object_to_gripper_z": 0.006739883457994589, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24372246590043745, + -0.0006639070681010648, + 1.1573256405780226 + ], + "finger_b": [ + 0.23265355833076162, + 0.023242874367791162, + 1.1573256405780226 + ], + "finger_midpoint": [ + 0.23818801211559953, + 0.011289483649845049, + 1.1573256405780226 + ], + "object_minus_finger_midpoint": [ + 0.005534453784837912, + 0.011953390717946114, + 0.0 + ], + "finger_gap": 0.02634492196628314, + "fingertip_max_gap": 0.09038111906102686, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01317246098314157, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1573256405780226, + "object_top_z": 1.2026694607965718, + "finger_top_clearance": 0.04534382021854921, + "fingertip_min_top_clearance": 0.01360314606556473, + "object_projection_between_fingers": 0.8234711513183545, + "object_to_finger_line_xy": 0.010044514625664948, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04769055953051343, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.15787624099692157, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33881488866740844, + -0.3072263675543716, + 0.8470188398308661 + ], + "target_position": [ + 0.33237722717922596, + -0.3077799476004131, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0064614190626984674, + "xy_threshold": 0.08, + "gripper_dist": 0.18559760555701096, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470188398308661, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522985003090077, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530714764938029, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15455270230262177, + "release_required_pad_clearance": 0.052653573824690145, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36261030291682406, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007699429988861084, + "max_z_decrease": 0.007699429988861084, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035020881941054696, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007699429988861084, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021241314937351263, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007699429988861084, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00769945018658426, + "max_button_displacement": 0.12, + "button_start": [ + 0.1880771517753601, + -0.3640414178371429, + 0.7768088579177856 + ], + "button_final": [ + 0.1880771517753601, + -0.3640414178371429, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18783906626985786, + -0.36281094013298815, + 0.8041752871192069 + ], + "closest_button": [ + 0.18805868923664093, + -0.3640466034412383, + 0.7691769003868103 + ], + "closest_ee_minus_button": [ + -0.00021962296678307291, + 0.0012356633082501456, + 0.034998386732396636 + ], + "button_min_z_position": [ + 0.1880602240562439, + -0.36404636502265925, + 0.7691094279289246 + ], + "min_active_finger_to_button": 0.1455534158684986, + "closest_active_finger": [ + 0.06200793385505676, + -0.4278603792190552, + 0.8078112602233887 + ], + "closest_active_finger_button": [ + 0.18809010088443756, + -0.3640471696853637, + 0.7729263305664062 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1260821670293808, + -0.06381320953369146, + 0.03488492965698242 + ], + "min_contact_pad_to_button": 0.021241314937351263, + "closest_contact_pad": [ + 0.1880602240562439, + -0.36404636502265925, + 0.7903507428662758 + ], + "closest_contact_pad_button": [ + 0.1880602240562439, + -0.36404636502265925, + 0.7691094279289246 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021241314937351263 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c14f25a00002ab6202329cbb64f508c379ae540d963749411d82b3d1950ea307", + "visual_seed": 5941009140406935719, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2fdd9995ac30dc849fe3eb8d527a2ad7d79559a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_95_success.json @@ -0,0 +1,700 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24480359990933734, + 0.014827069770346568, + 1.1577708733606635 + ], + "current_z": 1.1577708733606635, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.30118442555674263, + "gripper_z": 1.150957673831209, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24002910356598925, + 0.010038862200975773, + 1.150957673831209 + ], + "object_minus_gripper": [ + 0.004774496343348089, + 0.0047882075693707945, + 0.006813199529454472 + ], + "object_to_gripper_xy": 0.006761859733832405, + "object_to_gripper_z": 0.006813199529454472, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24480359990933734, + -0.009075077972080096, + 1.1577708733606635 + ], + "finger_b": [ + 0.23391962859671517, + 0.014827069770346568, + 1.1577708733606635 + ], + "finger_midpoint": [ + 0.23936161425302627, + 0.002875995899133236, + 1.1577708733606635 + ], + "object_minus_finger_midpoint": [ + 0.005441985656311071, + 0.011951073871213332, + 0.0 + ], + "finger_gap": 0.026263539331833674, + "fingertip_max_gap": 0.09039759794628818, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013131769665916832, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1577708733606635, + "object_top_z": 1.2031136114264616, + "finger_top_clearance": 0.04534273806579803, + "fingertip_min_top_clearance": 0.013602821419739407, + "object_projection_between_fingers": 0.8282612599104778, + "object_to_finger_line_xy": 0.009905378214706342, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047698798973144094, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.15885251374739953, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 341, + "max_stable_success_frames": 341, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33803268625251215, + -0.30875730550338465, + 0.8470195627192066 + ], + "target_position": [ + 0.33119288216468434, + -0.30957237163629875, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0068881966261779655, + "xy_threshold": 0.08, + "gripper_dist": 0.1857247700084785, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195627192066, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552073162691945, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08545757820907073, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15401452637502938, + "release_required_pad_clearance": 0.052728789104535365, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.509755661931043, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007528066635131836, + "max_z_decrease": 0.007528066635131836, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035031385784845964, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007528066635131836, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02124042672416737, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007528066635131836, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007528088931698642, + "max_button_displacement": 0.12, + "button_start": [ + 0.18689280748367304, + -0.3658338189125061, + 0.7768088579177856 + ], + "button_final": [ + 0.18689280748367304, + -0.3658338189125061, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1862273615994255, + -0.3643277744835849, + 0.8043408189269541 + ], + "closest_button": [ + 0.18687663972377772, + -0.3658352494239807, + 0.7693479061126709 + ], + "closest_ee_minus_button": [ + -0.0006492781243522261, + 0.0015074749403958254, + 0.034992912814283184 + ], + "button_min_z_position": [ + 0.18687455356121058, + -0.3658353984355927, + 0.7692807912826538 + ], + "min_active_finger_to_button": 0.14588163499627727, + "closest_active_finger": [ + 0.05924872308969498, + -0.42701223492622375, + 0.8083131313323975 + ], + "closest_active_finger_button": [ + 0.18690593540668482, + -0.36584052443504333, + 0.773055374622345 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12765721231698984, + -0.06117171049118042, + 0.03525775671005249 + ], + "min_contact_pad_to_button": 0.02124042672416737, + "closest_contact_pad": [ + 0.18687455356121058, + -0.3658353984355927, + 0.7905212180068212 + ], + "closest_contact_pad_button": [ + 0.18687455356121058, + -0.3658353984355927, + 0.7692807912826538 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02124042672416737 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0ed59ae4ccb1260378911c895fce71fc429d6009456ca5b59fa64410eac9e03c", + "visual_seed": 6166583755294798771, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc83bca33fc30b7bf7722f413a85c12cf0e841eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_96_success.json @@ -0,0 +1,700 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24340635673506242, + 0.023488832249434363, + 1.1589622220527553 + ], + "current_z": 1.1589622220527553, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.3023758338534793, + "gripper_z": 1.1522431487645663, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23860625994764673, + 0.01858805169192418, + 1.1522431487645663 + ], + "object_minus_gripper": [ + 0.004800096787415692, + 0.004900780557510184, + 0.0067190732881889925 + ], + "object_to_gripper_xy": 0.006859925600283743, + "object_to_gripper_z": 0.0067190732881889925, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24340635673506242, + -0.00022006859063876757, + 1.1589622220527553 + ], + "finger_b": [ + 0.23209078626029678, + 0.023488832249434363, + 1.1589622220527553 + ], + "finger_midpoint": [ + 0.23774857149767958, + 0.011634381829397798, + 1.1589622220527553 + ], + "object_minus_finger_midpoint": [ + 0.005657785237382834, + 0.011854450420036565, + 0.0 + ], + "finger_gap": 0.026270784423267766, + "fingertip_max_gap": 0.09047555469521032, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013135392211633888, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1589622220527553, + "object_top_z": 1.2043681793152472, + "finger_top_clearance": 0.04540595726249186, + "fingertip_min_top_clearance": 0.013621787178747591, + "object_projection_between_fingers": 0.8144731263172319, + "object_to_finger_line_xy": 0.010212094698530029, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773777734760516, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17739773554275418, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 345, + "max_stable_success_frames": 345, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33457959946711746, + -0.3049272877643971, + 0.8470192641738908 + ], + "target_position": [ + 0.3276248338940742, + -0.3056577306399229, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006993018730876822, + "xy_threshold": 0.08, + "gripper_dist": 0.18615161213873263, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192641738908, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542027125536706, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551528092437798, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15447450725343234, + "release_required_pad_clearance": 0.05275764046218899, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5650972223420693, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007290005683898926, + "max_z_decrease": 0.007290005683898926, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504688030461779, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007290005683898926, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02149201322002603, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007290005683898926, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0072900235050596795, + "max_button_displacement": 0.12, + "button_start": [ + 0.18332475423812863, + -0.36191919445991516, + 0.7768088579177856 + ], + "button_final": [ + 0.18332475423812863, + -0.36191919445991516, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18297697813168234, + -0.36372035909951717, + 0.8092834556606076 + ], + "closest_button": [ + 0.1833342760801315, + -0.3619260191917419, + 0.7742843627929688 + ], + "closest_ee_minus_button": [ + -0.00035729794844915896, + -0.0017943399077752775, + 0.034999092867638804 + ], + "button_min_z_position": [ + 0.18330869078636167, + -0.36192053556442255, + 0.7695188522338867 + ], + "min_active_finger_to_button": 0.1465511804681382, + "closest_active_finger": [ + 0.0418151319026947, + -0.34729713201522827, + 0.8083761930465698 + ], + "closest_active_finger_button": [ + 0.18333472311496732, + -0.3619256913661957, + 0.7732270956039429 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14151959121227262, + 0.014628559350967407, + 0.03514909744262695 + ], + "min_contact_pad_to_button": 0.02149201322002603, + "closest_contact_pad": [ + 0.1833356767892837, + -0.36192610859870905, + 0.7952390401403446 + ], + "closest_contact_pad_button": [ + 0.1833356767892837, + -0.36192610859870905, + 0.7737470269203186 + ], + "closest_contact_pad_index": 1, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02149201322002603 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "10e1f0ce49ceb747928af1d5b7908465a3e26debe9b3ca0a392185dcd4d6a365", + "visual_seed": 5122625597396072226, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25d8e769bee0276abfd9c08a12794ebe8b31d3a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_97_success.json @@ -0,0 +1,700 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23843183385691302, + 0.02022149082837599, + 1.1603405182318398 + ], + "current_z": 1.1603405182318398, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.3037540704279189, + "gripper_z": 1.153793223958083, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23337188541965326, + 0.015421182860255789, + 1.153793223958083 + ], + "object_minus_gripper": [ + 0.005059948437259765, + 0.004800307968120202, + 0.006547294273756776 + ], + "object_to_gripper_xy": 0.006974670943960428, + "object_to_gripper_z": 0.006547294273756776, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23843183385691302, + -0.004036424943085941, + 1.1603405182318398 + ], + "finger_b": [ + 0.22773068797271664, + 0.02022149082837599, + 1.1603405182318398 + ], + "finger_midpoint": [ + 0.23308126091481485, + 0.008092532942645024, + 1.1603405182318398 + ], + "object_minus_finger_midpoint": [ + 0.005350572942098175, + 0.012128957885730967, + 0.0 + ], + "finger_gap": 0.026513411715774992, + "fingertip_max_gap": 0.09067139106248165, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01325670585788749, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1603405182318398, + "object_top_z": 1.205791923585512, + "finger_top_clearance": 0.04545140535367209, + "fingertip_min_top_clearance": 0.013635421606101627, + "object_projection_between_fingers": 0.8370969042338482, + "object_to_finger_line_xy": 0.00979079939993208, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783569553124083, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.34307316445653563, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 346, + "max_stable_success_frames": 346, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3326607593464346, + -0.30189345283384295, + 0.8470196972482729 + ], + "target_position": [ + 0.32483181687102325, + -0.30303338554671166, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007911497132222691, + "xy_threshold": 0.08, + "gripper_dist": 0.18552498197484968, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196972482729, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530777240485344, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580973521459538, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15427813982385558, + "release_required_pad_clearance": 0.05290486760729769, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8485697403011381, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007363080978393555, + "max_z_decrease": 0.007363080978393555, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505425432652124, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007363080978393555, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021272705123448844, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007363080978393555, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007363105642508009, + "max_button_displacement": 0.12, + "button_start": [ + 0.1805317401885987, + -0.35929483175277704, + 0.7768088579177856 + ], + "button_final": [ + 0.1805317401885987, + -0.35929483175277704, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17856690458477428, + -0.35849347177076174, + 0.806384641935074 + ], + "closest_button": [ + 0.18051879107952123, + -0.359297752380371, + 0.7713940143585205 + ], + "closest_ee_minus_button": [ + -0.0019518864947469516, + 0.0008042806096092425, + 0.03499062757655347 + ], + "button_min_z_position": [ + 0.18051300942897802, + -0.35929834842681874, + 0.7694457769393921 + ], + "min_active_finger_to_button": 0.147515324701034, + "closest_active_finger": [ + 0.05090700834989548, + -0.4203717112541199, + 0.8080660700798035 + ], + "closest_active_finger_button": [ + 0.1805425882339478, + -0.3593027889728545, + 0.7730521559715271 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12963557988405233, + -0.06106892228126537, + 0.03501391410827637 + ], + "min_contact_pad_to_button": 0.021272705123448844, + "closest_contact_pad": [ + 0.18051300942897802, + -0.35995859126986707, + 0.7907082335862006 + ], + "closest_contact_pad_button": [ + 0.18051300942897802, + -0.35929834842681874, + 0.7694457769393921 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006602428430483309, + 0.02126245664680848 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cebc3822e20b970db0470fa4eefd7ab6257d78a28003d0edf696cf8044c5c941", + "visual_seed": 7858187941310257115, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a124f8f1281a2af9e6b34072600880bb447f8f11 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_98_success.json @@ -0,0 +1,700 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2393773572743026, + 0.018672947756458273, + 1.1574474933296544 + ], + "current_z": 1.1574474933296544, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.300860926316444, + "gripper_z": 1.1509763830757405, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23439544669535275, + 0.013746756554198061, + 1.1509763830757405 + ], + "object_minus_gripper": [ + 0.004981910578949839, + 0.004926191202260212, + 0.006471110253913892 + ], + "object_to_gripper_xy": 0.007006196741305387, + "object_to_gripper_z": 0.006471110253913892, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2393773572743026, + -0.005253397502419317, + 1.1574474933296544 + ], + "finger_b": [ + 0.2281334154271617, + 0.018672947756458273, + 1.1574474933296544 + ], + "finger_midpoint": [ + 0.23375538635073215, + 0.006709775127019478, + 1.1574474933296544 + ], + "object_minus_finger_midpoint": [ + 0.005621970923570446, + 0.011963172629438796, + 0.0 + ], + "finger_gap": 0.026436645507872218, + "fingertip_max_gap": 0.09056542872865875, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013218322753936109, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1574474933296544, + "object_top_z": 1.2028156674400148, + "finger_top_clearance": 0.045368174110360426, + "fingertip_min_top_clearance": 0.013610452233108127, + "object_projection_between_fingers": 0.8191058649177134, + "object_to_finger_line_xy": 0.010176269702043885, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047782714364329376, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2193814678204502, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 343, + "max_stable_success_frames": 343, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3376022340740642, + -0.3024263623889192, + 0.8470196877407494 + ], + "target_position": [ + 0.3308406563694529, + -0.30306620519480204, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006791784144960465, + "xy_threshold": 0.08, + "gripper_dist": 0.18371163629596235, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196877407494, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541089415706312, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1521980947406392, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007400393486022949, + "max_z_decrease": 0.007400393486022949, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501922408496777, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007400393486022949, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021407946945046958, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007400393486022949, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007400418181024688, + "max_button_displacement": 0.12, + "button_start": [ + 0.1865405887365341, + -0.3593276739120483, + 0.7768088579177856 + ], + "button_final": [ + 0.1865405887365341, + -0.3593276739120483, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1860647328707662, + -0.3604220450092612, + 0.8114949857988132 + ], + "closest_button": [ + 0.18654444813728327, + -0.3593308925628661, + 0.7764960527420044 + ], + "closest_ee_minus_button": [ + -0.00047971526651707785, + -0.0010911524463951272, + 0.03499893305680879 + ], + "button_min_z_position": [ + 0.18652170896530149, + -0.35933068394660944, + 0.7694084644317627 + ], + "min_active_finger_to_button": 0.14671702811349382, + "closest_active_finger": [ + 0.044755831360816956, + -0.34557291865348816, + 0.808216392993927 + ], + "closest_active_finger_button": [ + 0.18655061721801752, + -0.35933580994606007, + 0.7731349468231201 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14179478585720057, + 0.01376289129257191, + 0.035081446170806885 + ], + "min_contact_pad_to_button": 0.021407946945046958, + "closest_contact_pad": [ + 0.18652170896530149, + -0.3618218734662356, + 0.7906709705676642 + ], + "closest_contact_pad_button": [ + 0.18652170896530149, + -0.35933068394660944, + 0.7694084644317627 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00249118951962618, + 0.021262506135901527 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "81791db9996c007bfba25619406174637a44516cf0173cab7f69ec49f47eac09", + "visual_seed": 7542338491459480313, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6fec18e59306b1594353ddadbb4c21d0620f78fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_99_success.json @@ -0,0 +1,700 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23856900169069678, + 0.018906020788092188, + 1.1562873215666338 + ], + "current_z": 1.1562873215666338, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.2997007545534235, + "gripper_z": 1.149910426458128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23347498323470994, + 0.014020505111905668, + 1.149910426458128 + ], + "object_minus_gripper": [ + 0.005094018455986837, + 0.00488551567618652, + 0.00637689510850592 + ], + "object_to_gripper_xy": 0.0070581362591125105, + "object_to_gripper_z": 0.00637689510850592, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23856900169069678, + -0.005090650002498635, + 1.1562873215666338 + ], + "finger_b": [ + 0.22738766311946101, + 0.018906020788092188, + 1.1562873215666338 + ], + "finger_midpoint": [ + 0.2329783324050789, + 0.006907685392796776, + 1.1562873215666338 + ], + "object_minus_finger_midpoint": [ + 0.005590669285617883, + 0.011998335395295412, + 0.0 + ], + "finger_gap": 0.026473808590314306, + "fingertip_max_gap": 0.09077076136775059, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013236904295157153, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1562873215666338, + "object_top_z": 1.2016513164174518, + "finger_top_clearance": 0.04536399485081799, + "fingertip_min_top_clearance": 0.01360919845524543, + "object_projection_between_fingers": 0.8216164727296164, + "object_to_finger_line_xy": 0.010135107677338325, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047885380683875295, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4999497121639439, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 337, + "max_stable_success_frames": 337, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3341029137808472, + -0.3078898603968915, + 0.8470195169233982 + ], + "target_position": [ + 0.3241857018617852, + -0.3098330589025161, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.010105795994371142, + "xy_threshold": 0.08, + "gripper_dist": 0.1869740698514643, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195169233982, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518276245624933, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0869276394627984, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15611483447220614, + "release_required_pad_clearance": 0.0534638197313992, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9407101550807582, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007337212562561035, + "max_z_decrease": 0.007337212562561035, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035045655485234105, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007337212562561035, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021412097604747396, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007337212562561035, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00733723034757918, + "max_button_displacement": 0.12, + "button_start": [ + 0.17988562583923337, + -0.3660945296287536, + 0.7768088579177856 + ], + "button_final": [ + 0.17988562583923337, + -0.3660945296287536, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1786846849013875, + -0.36759647945773977, + 0.8077599524556665 + ], + "closest_button": [ + 0.1798765957355499, + -0.3660991787910461, + 0.7727665901184082 + ], + "closest_ee_minus_button": [ + -0.0011919108341623963, + -0.0014973006666936794, + 0.03499336233725825 + ], + "button_min_z_position": [ + 0.17986993491649625, + -0.3660983741283416, + 0.7694716453552246 + ], + "min_active_finger_to_button": 0.14731290704799546, + "closest_active_finger": [ + 0.03758106380701065, + -0.3509427309036255, + 0.8080631494522095 + ], + "closest_active_finger_button": [ + 0.17989689111709595, + -0.3661010265350341, + 0.7731701135635376 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1423158273100853, + 0.015158295631408636, + 0.034893035888671875 + ], + "min_contact_pad_to_button": 0.021412097604747396, + "closest_contact_pad": [ + 0.17986993491649625, + -0.36899803574034085, + 0.7906864959644353 + ], + "closest_contact_pad_button": [ + 0.17986993491649625, + -0.3660983741283416, + 0.7694716453552246 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002899661611999227, + 0.02121485060921069 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0298d817cdb717b26bbd28b2b7d27bdd3d41b481915b3b236fa38d5a5e7d0dfd", + "visual_seed": 2134120184888996028, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8815154d010fa3d3bad54f9b0d625f2aa7d7bad2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/episode_9_success.json @@ -0,0 +1,700 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.24505459999592763, + 0.02499953722552005, + 1.15724019377902 + ], + "current_z": 1.15724019377902, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3006537459750992, + "gripper_z": 1.1505372927398598, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24008986587603368, + 0.02020811246485503, + 1.1505372927398598 + ], + "object_minus_gripper": [ + 0.004964734119893954, + 0.0047914247606650195, + 0.0067029010391601584 + ], + "object_to_gripper_xy": 0.006899734496221796, + "object_to_gripper_z": 0.0067029010391601584, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24505459999592763, + 0.0010124842680426032, + 1.15724019377902 + ], + "finger_b": [ + 0.23411150927503901, + 0.02499953722552005, + 1.15724019377902 + ], + "finger_midpoint": [ + 0.23958305463548332, + 0.013006010746781326, + 1.15724019377902 + ], + "object_minus_finger_midpoint": [ + 0.005471545360444308, + 0.011993526478738723, + 0.0 + ], + "finger_gap": 0.026365317068270316, + "fingertip_max_gap": 0.09054301692097066, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013182658534135158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.15724019377902, + "object_top_z": 1.2025394803586815, + "finger_top_clearance": 0.045299286579661535, + "fingertip_min_top_clearance": 0.013589785973898493, + "object_projection_between_fingers": 0.8277282750653953, + "object_to_finger_line_xy": 0.009955977239368592, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047771508460485335, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.36610486509785123, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 342, + "max_stable_success_frames": 342, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3373060378395678, + -0.30369987603077914, + 0.847019688347916 + ], + "target_position": [ + 0.3287997802616859, + -0.3051115349443548, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008622598150763565, + "xy_threshold": 0.08, + "gripper_dist": 0.18659771877445372, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019688347916, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528329144688486, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08518686269564589, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.155369227867418, + "release_required_pad_clearance": 0.05259343134782295, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.25022881414058423, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007368624210357666, + "max_z_decrease": 0.007368624210357666, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350310473426027, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007368624210357666, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021247980550156753, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007368624210357666, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073686438347992204, + "max_button_displacement": 0.12, + "button_start": [ + 0.1844997107982635, + -0.36137300729751587, + 0.7768088579177856 + ], + "button_final": [ + 0.1844997107982635, + -0.36137300729751587, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18510098449564852, + -0.360068857300516, + 0.8049044637019265 + ], + "closest_button": [ + 0.1844847202301025, + -0.36137774586677546, + 0.769903302192688 + ], + "closest_ee_minus_button": [ + 0.0006162642655460071, + 0.0013088885662594363, + 0.03500116150923849 + ], + "button_min_z_position": [ + 0.18448357284069056, + -0.36137837171554565, + 0.769440233707428 + ], + "min_active_finger_to_button": 0.14484034041391416, + "closest_active_finger": [ + 0.058920226991176605, + -0.42453503608703613, + 0.8080307245254517 + ], + "closest_active_finger_button": [ + 0.18451292812824246, + -0.36137861013412476, + 0.7731528878211975 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12559270113706586, + -0.06315642595291138, + 0.03487783670425415 + ], + "min_contact_pad_to_button": 0.021247980550156753, + "closest_contact_pad": [ + 0.18448357284069056, + -0.36137837171554565, + 0.7906882142575847 + ], + "closest_contact_pad_button": [ + 0.18448357284069056, + -0.36137837171554565, + 0.769440233707428 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021247980550156753 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 2848321962719448975, + "physical_seed": 446376941926965473, + "layout_id": "layout_00041", + "step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "workflow_spec_digest": "f8fac53c7c96118fefcd71d5ee5723184cfc0ea5c9f28e5396a154832c59c201", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8ee25097b428fe38a368cfd6bdb28876ab7a7f47da9af7bc27fd11be503b73ea", + "visual_seed": 1630215482323372433, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5782229107148351242, + 3907262889746092396, + 8862035115530452832 + ], + "runtime_workflow_digest": "04eb32fd571481463ff946232714daddef2bbb39aa53d25a19958ef77400876d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..676360b0fbfafe6493b7cf0406243887c710d0bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00041/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s03_plr_htd_00041", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..55b39425a7025e5d2a886ff90bda2ddfd995269f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbc425e183d0cb6d3770ef91bc62b65c81fe5c8e282a6a3f2572e536817b73db +size 6065849 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1b1bed0308d01cca6452b3b68b7971a9b9a7dbac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23ba0860f6108032f106a94701414a5dd74da4a8f04321f37fbcda78ea99f89c +size 4258067 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8826da98a913939cb4fa331eb962e4e66d54eb57 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa184c81b73501971c6ae93e689815f191874b1cc4012c72aaa62a750aec109e +size 4455024 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b4ba1029b5ac86ff8890f5b808a33eae44771c58 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c117f2ee16fda1e328a2c4cc3f16ed54395a0273a3e266d62ee35176d627fff4 +size 5690974 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9034bc94d0dfe8c78efdcc44d495c92239cdbc9f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:737a68b16e52be72ffdc513dbc65b3cf81da3302fe15816994935f36d3a48970 +size 5228314 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0bfb716a0faa04f31daf3635d968140cd76602c6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd88974d3c1ab2f95cd06004bfd8c4950715e9413fb94c680de833729a61e8bd +size 4956097 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7acb3813395edf016be77d7d94a572ec626a34fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:145b0035e9e597cc5063352dd60935c4d74500639d8db220906a0fa0313016f5 +size 4108161 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0b472bd676f1d03cc51485a2306c623c831f634 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bac3cb0a2cac3346c5af2a52077c2be9287591e65fd99bc9cacd926bf09a5ff6 +size 5343242 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..919210b272ecd3b724c99dd112b946a8059ec7a9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1352aee6aea986b47e3e209080bec79122e98d1720adaace7439b2360a5a894 +size 5697513 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95c6a5661ba4b564d853b004ee97ca342d00c1b2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cc1a7b278acce9f2af437a37455e304080750effb191dc3a0a74e3b9981ed92 +size 4557116 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..083dbe8f2f7c2bd8dc1a1880d58c7321cce8f5e8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a62b77617dcf401056b529612c2d3dd789673d6773d59fe22c689612c586e81 +size 4667874 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d2bc70a2e7fb47216bd623cef9d543c095f17bc8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2ab8ade171fc83537e65e093fd1c77e3138c9c6d15b2a0f934105489cbfe74b +size 4048496 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9f6064800ffc5e9e553f32f10f7ff3fcd6b6e010 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57166030cd46048a9202e93dd7e485aba1ff96552cfeff3c6d727386a882bda4 +size 6191812 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b960de477f05c20351349dd85057917bb06455c2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df4f42b1d8a822faa4d3f20292d70722f0035e2e76490e1a09f717aeb3624f2a +size 5095717 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..80168ab0d38c5d54357957067fc9dce80a03ce83 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:965aabd54742a4e4112588da608c5c6531a4897d196eed1bd91adfdce535499f +size 4879727 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e762bed5e65ed52e9f7769fa7726530935546edc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6abbe796079e317b77a3ba5c22eeb0f9a2cf9df85d406d4ea8414e1d074f2b46 +size 6144133 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3cc75562bdcabfadf9666f2ed70d3017766e3ec2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:001ecb7a38de4a5ad6923500e8bb00e1fdf989c424c4f3bafc7e310211b9bf48 +size 4349934 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5cbfae11190c782d207d1c0eb5132567146e2403 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5455b1a1f83d6c12d9b34cfbacd46e14080a623b724d3e5de8da44be913b214f +size 5048077 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2cb79db4903cf56ff3f03420914147fd07e6a792 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97be0fd360963ef48cd7f26a840a6efef933954103a249987e8fe0e953bd62c9 +size 4836715 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..506e6d2f5737b8abe8a4c987cc87b626052dd254 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f53826237ee79bd58c99229bed40f39cd3d76502199f38f5f861690988b38563 +size 5082136 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5737f9b5b70c4f6d0d96bfed96052a6542f8d84 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:777c928884475333076fb998cd25f3303e22bf4c37b42fa6467d5f5d5fe02bae +size 4429418 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b86f30ebcce7163636542f4b28c11af17a3c4d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb1692b909d21d9c0f1af93c62c163bbfd598e62b20c9feeea1ec07c44565c55 +size 5241528 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5314a13140bf53d86a98bd9ca06740c951da368 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c21c7e36965af83288b39ca1e63e61d8b767d3720ce5fd3df962eafb73c3c65 +size 4921216 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..775cf010277b0c913e97df375d605dc4e1a10af5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:501c175ddd3641372e292cc56ab1c7112179c4af55298d741c3ccfa843f7aec1 +size 4484447 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e46755648b28f896a336a005c2765bcfed80a17c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3153d1f2e3f264400328212e09d8c26b7c6456f55ba662ef9db49deb0c1c9127 +size 6648289 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..895666e470e7c5fa3eedb2ffb594bf2f0211c12e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3720b9172e15dd5c4a57922de244ea731b0bac5a7627d9999c8f67c66be65e58 +size 4742289 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6f20b8187af8bf6aa0a02044c54fa688b3bae99f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60b76d47fdcd6b14136374db5ccf6790438c29d3d4a2a1f1dd905097c9557e1d +size 4422691 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..54fdab60cee4646ae15730e9fed061ec0aaf4ba9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fb228a7f0378702a5bb5657f59af2c4b025c309c93e449ab04764dcab7dea85 +size 4673991 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1077127d6dcb7e6c8499b97db55e0478d1140083 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b5d06878946d9f888552df33cd9b1cc90f87e227ca1f06ec7d94e335e960e8a +size 4494806 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..756a95bc48a931ee274d7e71be1d7c826e3824f2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f0685c4062439a045712da8ed134e83db7372fc181280be63b912e7c77d9da1 +size 4497502 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..995e3127fb37e60487876bbca4b3822cf728c42f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d78c0e2bae9c496ebc35f35f9f6e5691882fc24d0dd6ca640b6cfe32f5c6663a +size 5160997 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..22e698d3bd37066ceb40b1d4d97953cbb15620de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52a5e968a23212216eb224450eb05739eb8979dc4dcfdba01b69e15a565cdf27 +size 4473865 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7b9e3ae1ad84d9caa0ad5b534a11c509c207b279 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf61f614476cf7bc6ee0e515764d9ce1c5f244d89f124eb1ab4aee5066521231 +size 4781546 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c7af2416dc94916f7f22125f9870895b4d78c6ec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e42e815e6edba8ac790a683cea1bc2d6164f40d5145b5390a740c98207e5cf68 +size 4647259 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fd72abcc9c38344f7bdb22e9ef555720ac49656f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc3ede77cfd035f128846ac1921fb1b18c0c4f7cc04007cad7a5e302a343db2d +size 5790245 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4a283411d28d98fc5d84129259407d3868ae567b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f7bafb2d2aa85693d1059b928c2a8a459acd44596572f9cd52078823e01dc07 +size 4224729 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..65850436b5e0161be44b9a59a9d10bdbd1b29e1a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e555266c2d85c7472848db505e780378f78abc0bc04d52f9c33b0f571e1256f3 +size 4198763 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..07c9da91d0765415a8ab607fc2842b90e6878188 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1727a0b5c20731304ceddf7b3e118adc0e3b90c8c730137640b06e97b1222cee +size 5069878 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..51573ea6cc0e5c8838fd2ffd405607fba10caa07 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e58d734ba63d37ff4420c026e028c292b089ab9b4fe7337e75edb7fcd86a79c0 +size 4740497 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b4ac264b063eaa932e3e6e911a8e6603921ffed0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfedd50d33ff80651026568bdfd7aae33fce52155ba581e2e8e83d77858fce49 +size 5532073 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..65c8b2fa53a1c181f77d249ea61254b56dd9e01f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfe3cf6dcf996fee75158363a804cab528f1c01119b0fc818bfd65d7d892ad06 +size 5220789 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..08e5d280030d34ab14cfc4bee2efd7a656fdc671 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ad2d3a061c15bf82751544ac461b8faf4373ab4ae7332849d8e14e44998c373 +size 5934836 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fbd2f72c999eebf9c60adbb335c62e1034f47190 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9af1c79b27565b5b65ac259fd797be616a6afa171f454928717646e457501924 +size 4397765 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..26e9962dbfa1f5e38f3d310c9eeca8227931d8f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:049071a0d886775882d17716ba13ffc581c576f00acff7edcedc26fc202351fc +size 5456757 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c19ef5e67aab5513a77224c35993701fd2132b3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a02f1c106de4056738d0ad1fbd81137a43bb86739ef3ee0534d5a241ddbeaeb0 +size 5142800 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ebb3e121af67c18b1ebfdebb631cf1edc433f51 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ad5072902271b7472aa34771be50abcd179026e236eb93121a001088e894866 +size 4758388 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..50d991a96f47e53feb21b11bd289f252320e6e42 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48c1f797070402e541b1cd3da706f0632760e0f691c5930de05f54a79b43e064 +size 4398659 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..797d2c989506059322a7c501199d5c524ef9edee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cae759122bdaaeffc6eacc4322b2b66fd5dc6f25ca5c72a5e6193953265783e +size 4461574 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1dc06ebd8686b8699354f989b7369aaff0d5d196 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d687772abfb6a0f06d54b8dd0290c5b4c70b3aeab7f04c9b3a573e1502c2600 +size 7325695 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..50e431b0507b92d0902102167e2e0a703c75fb2e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc5d8cf0a6dbb2177f6bc4f06407b055edd685cbe70734acb7d1a3c7c0714ba4 +size 4626587 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..26f6432086b0c41260d8fb2fae9e0c45684c63fa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36c11c45cd5f4ce6f6631b696fb2936b7e3f11a46aacad0f7c84b7b89c7a3f64 +size 4441539 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6c7fb39c39263d1b32368b7d0bdca1a0efc3bf5b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:132c1bda277a9b6289f3ba0254401b68408bbb51d3dad07b4357539b263da1d7 +size 6165739 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..757ccb8474b88ddf43092c2cf0900202c0489350 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7df8d1ae74066afb2a1069edb19dbeab2a8da335374f6d5918e0de45b3a2870b +size 4649343 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e7dce02c153bcafcea9d246b378ec21cea748c7c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47ddb90be2b26bc539f1123c8414edd0a68bf161c3e88b9d9ab74107c4187c32 +size 5559673 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b46b7490828aa61443f94a29fdd238211fa05254 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98636c1fe7f940263a72c387fbf498811522f8b6cc18cafc718c6047f1f90df8 +size 4178577 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7e57e047163a58d6168801a2b317064ba2519e63 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:501b95a5ce931d1bca1278c8fb336e3b346f5ea3476706b975b44c0b1fcb44da +size 4159992 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..62d1e53718ec95fe5d0298b53bbdb318bb6d20f4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a326e590c9a329716f88b85a12c1a8743c3c59d186549b5eede108f1e5f4adc2 +size 5095929 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c5c3f81bb993ea44380e309cbbe02fe426130419 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1b07904fac545d99c3c756736358d0c12546e0e930044e4c999c98bd270e007 +size 3924550 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9e640cc0f86bf77046766ad7c53109cb92d53720 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a52c3303dfdd68e535001ed1f43319e626912ea9ddf761e8021ba2f780c812c8 +size 6561464 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..999a481116fdc0244a261212c14114165fa2ad13 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:867881153b950290ff8674430d38f58ce44b18fe5c2f77994ff8c871b4af203e +size 3713537 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eff77a929ecc24a1e8778eebca3ccc66044b3880 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74376ba5bf37b4a4edf20862472e6cf5f2063028d9036608028e77c1781281a7 +size 4664161 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d3ac59b03bdedc9950af6eb0e37cb2d9262a23c4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b08526f09a7415bf4bfcebe666cff897503c114912b371b49b361c6788ba6173 +size 4111073 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc32c9a916aa4a41b7d6c29b14d3e75d0cd373ad --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0211d00de90f970bf06e4df5bd79981d7e899f00ed5b47ea96b9dbeb600a7268 +size 4660905 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b6aee186b7a93a5cec3113e63247927c40d1b2c0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0eb22e6e6b5bb58cd2b8f580252c69310cda792ea4c07978158be846d8e98851 +size 4302877 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f75c4065a1fe9e00dbdcebe748407be696360c5e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c99c66e9566828b989fa65b931feff995351db6ce0d073bf0a0e4d6334294d3a +size 4231290 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dd6e84dc2a0883071d05606cf2c17c9e2fb775af --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a056ca5aca3d4f06e6d29c6b97a3ebf6b83b4faf6ff951c7105d58e098a4a383 +size 4199321 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..13a52aad1ba4b7e370e59206ff5d31d7c1433eb1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f51c0b7cb3b840755023725ff5aba3df7a122afff2f68e868666ab55d928480 +size 4354567 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e41a4c3a6456319e520d2226c2f652c40a810b43 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d384b52353a52f730d6d0f369550f84ce1b64fc99ba12af0fedefaa29eca4ea +size 5075426 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..07ddda06ae1eb8f07325dbd27bd7fd2ef5c43db1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6aa942d8d8801c979636d412474e8a7788e4abcfef7527391208d8d19ff8787c +size 5840611 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..869bf9a5e9cef32f8907b59415c9258fa5daff51 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25f8da599e4d9d8636af24fa54a41b6d2090766b94f5ca9a9509f6aefd8e3a02 +size 3820422 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a52fe39ce7b8d54da6e0b7c83a9fd03191e46c15 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a937224dfe63e69bb8ff284054f39b5d78338e36511ad9ad6cfae238ec2afeb +size 4720831 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..663cef0678f0f400eaa9e8804264268b74852374 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:744c25fe26532a5ed593e465ff6d5650ad23be82db478271c94ef5299445705a +size 5109720 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..94e7796a245b5694bf2e1cc4a3d924f8eb9e5780 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e2a274b6d9409840e69ade8f98ffa6e8d22572669c3e61d6b94c3ac5e2f980 +size 6046224 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..29528b66f0fac5efbdefdd88068889f5f5336963 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0f92f99ad9ad0192b14007f4e5d265fc9e92fefda29219bb926f26d38fc2d49 +size 4928064 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ca8bf5e3eb4d36ffa409531c42cfe4b32d24b3f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23a3577bfcd80dc8c0354a73f4d4ec7d25348a928409ffbd1cf9a5f6d0fd5864 +size 5609472 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a287b0a4cd623e7f07fb3399d71406f06c803cf1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4497d52c3bbb7128d9e7f4a95f0feaa701a75da08f5b6005708436312892b81a +size 4342058 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3233e993e7c300132250a7d75ae6289bdd9c5b9a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6d2dd81f5171cffd6930290f405943c7eca1ecd92d20bdd18f00a866f257232 +size 5019284 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..23194e20519a30c204e2031e47207effbdb13936 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bb5fee035c5e17d55d3163abb6f528d124d37a8aab992b442a44072a8037830 +size 6011758 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75918db1797d0ad903c96f7995b242a2aae43d01 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad251fa30944cbf7547d9b4a32f2bc63da58bf6b36a577055a15b85551749b61 +size 5646022 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..69488d8b5806bcab4d3bd61cea313c8784149a07 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b36803ff0fdfe907d35ba5c536dbe4a49a92e620f099d4373d2aa509f06ae001 +size 4851149 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4703ba20b8bc295fd46ee36608057c442e09e3f5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e37e78e7e0ed560cecd7b3aa90619d9c11bdd4e44e82a5e2b8d382290e67f0d +size 4673447 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f4ddd52c8ac32d73e0c9384df059892e68bc1af7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05b2c002ad205707f16be894c9e22b6252eda155c62f661d1c2b2b6a39c842ad +size 4077883 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f6f4d888dc207e15060c678d768bfac077c3b574 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09acd78e9ae5a153a2d47f2f3f64ff30183d70a781517ce20703a6164e232b08 +size 6639125 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b45c409e7a5a7a5d810ad8cf3395fa75916f29fd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a21f759a484b31f24b9f7ff1c64ac5112cb1709aa0b33f4efaa8913acf05597 +size 4178587 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e161899ff3e3328a4ab31ad103a8bb5c77b8886d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a7aae075a1c60f56a119da9bb8dfbe37d3ec88b2326693baab765759135db73 +size 4418370 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4880f509c4dff8f0abb42846e9717f80327a92ac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ecc624135deaec2426704f2fbd7a79cbe7c6c6b203a7ff5d03d62f1ba2d0190 +size 5109233 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..32ae8c7019f63c0ebdf2821d8b159837d95b4f53 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:694ae42d13e854e69c728b5693c1f5579375a84fe657d8af5967ff5ad9601d84 +size 4350410 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9c61dd84f82dcebf230a93cecb4311ba18284347 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:835009dbdde53b0d9bec4144985362a608155c1ffb848f4b4526a15e8a5bf9ef +size 3738285 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c7ff1df3f9588800bbb64b64aa27fc8910270fe5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d3e43b694e84e7993a5038581db73df49da0a6f15378c7056abf6cb26518c57 +size 5182168 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..580885e9306f679201841e70182d7f63c6276cd8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a8f22aa96d8144cf766766c9091e23fb9bd0c52221903424c9d3c34f98539df +size 3771530 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..64fc63a7e387987afacef0b46fbff8c08288345c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4b8dcd7ac3e8079aaa11e20d6ae7bba17a3d13fff974748d5ef05a54d29e87f +size 4242285 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..106a24201a05ad65b79b2eb32caca674fa712096 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:840d9a3f43b836b03d0d0cf53a5e50dce80d80d1e7b106039fad5748b4065121 +size 3947188 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3783a39c72022ab7ffbd236356e0e1ffff8b188d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad55067ae94798ce287a73c69abccc07ebef9d0e8ca30a6931e2377fff3d1f04 +size 4950589 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15bc9ea39adb915195a28d35131aff909ca971df --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62e1b6dd80408fe4fe927c4ca246690fe0036f96e678ea30a3980a5d8ca3a4c5 +size 4070271 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..835f7f06dec3fa6c0b7c0648973e0cf0b59457c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61b123c3efcfa225db2d916f50a5e7ed888ac587245d290517e9a9ff714b54ad +size 5081071 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..289362059aa6671f68eacc571ba51caef603b61a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:629303d8994bd03ced34b42e796d077dc711f21c642f4f9d0de0c2fa60729f91 +size 5837052 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3edae13308a07213676b8bd903b28fb3ee8453a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce71aef2b3142363ee4f2ecf981a3e8656eb002bb0c1563c25e90729d7848db4 +size 4153796 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7cb9355e0d1d7d6cfb84140d30e742637a6d760c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f140cf1152348efdd0e2baf9ce7343497c410ff9f71221ee131ba82c78eff743 +size 4165089 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a3a2897b6c8d42d4f40c8dae46e9000fe18ddd4b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18376f33ada4eee7c4fca6502785105dad65797e9b6587f7810c8c0166e44038 +size 4974352 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b83b931b7fc1de2427db168fb1f5c8dd7ede13c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65050dfd00c62f1e95cee8decf167243e68c0f876b79aff13d7643e35fd32f1a +size 3716319 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b511788a73f7c6ca4009046f7b02e6296370109 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":899,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":898,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":901,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":897,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":904,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":907,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":906,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":900,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":905,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":902,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Place beaker b on the heater platform. Press the heater button to start heating."],"length":903,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a04591932054d2d92748bbd91af5054515b9865 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-04T13:43:53","dimensions":{"distractor":{"count":35,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[0.4863061306200236,-1.6421204829720306,0.71338606911949],"aabb_xy":[[0.46302428842189225,-1.7271204842692585],[0.5095879728181549,-1.5571204816748023]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.28760004854742816,1.5834259655771095,0.71338606911949],"aabb_xy":[[-0.30509998198141147,1.5659259656568747],[-0.2701001151134447,1.6009259654973438]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.6631003069252018,0.5241270630027719,0.71338606911949],"aabb_xy":[[-0.6703826233018653,0.43412705939326274],[-0.655817990548538,0.6141270666122807]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.4887827533527307,-1.8389492460851224,0.71338606911949],"aabb_xy":[[-0.5237827516634261,-1.846664261008668],[-0.4537827550420352,-1.8312342311615768]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.12752335497173128,0.23735293928359003,0.71338606911949],"aabb_xy":[[-0.1553683917523384,0.20656844054527834],[-0.09967831819112416,0.2681374380219017]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[0.5972234001677685,0.502719239256511,0.71338606911949],"aabb_xy":[[0.5846207010306922,0.49012384303164547],[0.6098260993048451,0.5153146354813765]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.4012788923631443,-2.067830980937122,0.71338606911949],"aabb_xy":[[-0.46127889261454535,-2.1221123059735865],[-0.341278892111743,-2.0135496559006576]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[-0.05770833585320567,1.3382169936925896,0.71338606911949],"aabb_xy":[[-0.08017310582461079,1.315716992813729],[-0.03524356588180056,1.36071699457145]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[-0.45002899777449923,-0.34361091252435294,0.71338606911949],"aabb_xy":[[-0.48449147578758706,-0.3502745897072757],[-0.4155665197614115,-0.33694723534143006]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[-0.22066391362696341,-2.3886038564911023,0.71338606911949],"aabb_xy":[[-0.24450013126756853,-2.478603857299589],[-0.1968276959863584,-2.2986038556826163]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[-0.18840672832074168,0.630333480170969,0.71338606911949],"aabb_xy":[[-0.2227230054953596,0.5803334801977912],[-0.1540904511461237,0.6803334801441466]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.3112106534409469,-1.2280107728561611,0.71338606911949],"aabb_xy":[[0.2942005561508962,-1.244145261354435],[0.3282207507309975,-1.2118762843578872]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[-0.41344339818757386,0.9503926350652812,0.71338606911949],"aabb_xy":[[-0.4834433945975355,0.9299546994135993],[-0.3434434017776119,0.9708305707169628]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.6523810088640246,-1.1902345737964977,0.71338606911949],"aabb_xy":[[-0.6570161240162579,-1.194101908873646],[-0.6477458937117911,-1.1863672387193485]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.3015634178115506,0.5384446276299828,0.71338606911949],"aabb_xy":[[0.23997265858755779,0.474444629520936],[0.3631541770355434,0.6024446257390298]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.40888924014851113,-0.27016819479304566,0.71338606911949],"aabb_xy":[[0.38638924013836284,-0.28426441443264894],[0.4313892401586594,-0.2560719751534424]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[-0.34820216048743696,-0.8147991826577474,0.71338606911949],"aabb_xy":[[-0.4122021590740094,-0.8618061460572561],[-0.2842021619008645,-0.7677922192582387]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[0.3359301825511116,-0.818879286654074,0.71338606911949],"aabb_xy":[[0.30245101529007073,-0.852358400025181],[0.3694093498121526,-0.7854001732829671]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[-0.407104721988113,-2.5490446438542804,0.71338606911949],"aabb_xy":[[-0.41588594913534926,-2.5578243911428116],[-0.3983234948408768,-2.540264896565751]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.025619633109305373,-0.7148790129325175,0.71338606911949],"aabb_xy":[[0.010456760132368294,-0.7300444702276363],[0.04078250608624246,-0.6997135556373988]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[-0.019901678711370607,1.579196987067832,0.71338606911949],"aabb_xy":[[-0.03114673428198844,1.5679551893437365],[-0.00865662314075277,1.590438784791927]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[0.5855717943256324,0.06939592857672094,0.71338606911949],"aabb_xy":[[0.5255717934648194,0.017969498570234537],[0.645571795186445,0.1208223585832073]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.033763307785424246,1.4488884564245095,0.71338606911949],"aabb_xy":[[0.003365196686280651,1.4184815544228397],[0.0641614188845678,1.4792953584261788]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[0.05143801748774901,1.363797367258237,0.71338606911949],"aabb_xy":[[0.04547147854701322,1.357836222598873],[0.0574045564284848,1.3697585119176012]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[-0.5612798613810782,-0.797153061722145,0.71338606911949],"aabb_xy":[[-0.5791489691355336,-0.810985969699356],[-0.5434107536266226,-0.7833201537449341]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.39225550913233986,-2.226549167085941,0.71338606911949],"aabb_xy":[[0.3547555083403444,-2.2329170080441307],[0.4297555099243353,-2.2201813261277503]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[-0.15937745564166328,1.5054442965663566,0.71338606911949],"aabb_xy":[[-0.22437745674760656,1.4804789234982285],[-0.09437745453572,1.530409669634485]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[-0.46614532682276144,-0.5270615866917985,0.71338606911949],"aabb_xy":[[-0.5261453274187777,-0.581874059237022],[-0.4061453262267453,-0.472249114146575]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[0.1937008258291958,1.1127386180384677,0.71338606911949],"aabb_xy":[[0.1856745551985698,1.1039871230611151],[0.2017270964598218,1.1214901130158204]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[-0.17422089253179407,1.0757974105961763,0.71338606911949],"aabb_xy":[[-0.22410358940949032,1.0257974113499015],[-0.1243381956540979,1.125797409842451]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_30","position":[0.6096697669811346,-1.6554891084580907,0.71338606911949],"aabb_xy":[[0.5496697671345678,-1.7123077306511294],[0.6696697668277014,-1.598670486265052]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_31","position":[0.3430665471218066,1.7800096878098581,0.71338606911949],"aabb_xy":[[0.3080665457703249,1.759649951853037],[0.37806654847328836,1.8003694237666787]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_32","position":[-0.4287391270658748,0.4814880052762427,0.71338606911949],"aabb_xy":[[-0.44785143442385367,0.4623532263990006],[-0.40962681970789594,0.5006227841534847]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_33","position":[0.6114203632862512,-2.44276671097097,0.71338606911949],"aabb_xy":[[0.5864203640142889,-2.459112074567132],[0.6364203625582134,-2.4264213473748075]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_34","position":[0.09210130114952597,-2.1954378918033264,0.71338606911949],"aabb_xy":[[0.042128235617010505,-2.2454378916158597],[0.14207436668204143,-2.145437891990794]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6693085904251378,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9309.png","name":"9309"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9309.png","name":"9309"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8416.png","name":"8416"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8131.png","name":"8131"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9806.png","name":"9806"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1145.png","name":"1145"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":634.3533031855612,"rotation_z_degrees":349.662590167464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006592595932285974,0.012182698696061058,0.007255167139065596]},{"name":"camera_2","offset_m":[-0.00694970838156907,0.013494021851461303,0.013016784802869916]},{"name":"camera_3","offset_m":[-0.013618908876321348,0.005327681956820138,0.0012910979983922627]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002557036627816706,0.0007887662283689971,0.0006798514676565983],"end_effector_yaw_offset_degrees":-0.051187371181440344},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00015037410873490302,0.00012158077635652468,0.00029232525021766426],"end_effector_yaw_offset_degrees":-0.32403888024584426},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001282512855788794,0.0009093743935207964,-0.0016589023325969943],"end_effector_yaw_offset_degrees":0.8811193364963763}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004419437182611707,0.0007951253558669],"position_m":[0.30778056281738825,0.0086951253558669,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002421807557210316,0.003929340377575385],"position_m":[0.27297819244278965,-0.30447065962242464,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0002690526545702267,-0.0018939180088357642],"position_m":[0.16583094734542977,0.30260608199116423,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015048160796203025,0.0003099310238891661],"position_m":[0.34550481607962025,0.16260993102388915,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"904c0a6f6066abc83f146d6afc487fdc56012174437f4d69f490e5be12e64e46","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9309/tex_ceiling_textures_1145/tex_floor_textures_9806/tex_table_textures_8416/tex_wall_textures_8131","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6874093947417107153,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6874093947417107153,"visual_seed":6874093947417107153,"scene_id":"lab_003","finished_at":"2026-09-04T13:46:37"} +{"episode_id":"ep_000001","started_at":"2026-09-04T13:46:44","dimensions":{"distractor":{"count":35,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[-0.6330362560584301,-1.709286301794305,0.71338606911949],"aabb_xy":[[-0.6715819488836311,-1.7478320728504937],[-0.594490563233229,-1.6707405307381162]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[0.32353600666160265,-2.49615114324658,0.71338606911949],"aabb_xy":[[0.3076515133962775,-2.5105040835454044],[0.3394204999269278,-2.481798202947756]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[-0.2955971535628451,-0.1781037851971603,0.71338606911949],"aabb_xy":[[-0.3188789957609764,-0.26310378649438837],[-0.2723153113647137,-0.09310378389993225]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.6052677836639448,-1.4666214626759986,0.71338606911949],"aabb_xy":[[-0.6427677848487375,-1.4710396853720589],[-0.5677677824791519,-1.4622032399799378]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[0.5131638266844831,-2.199017637240428,0.71338606911949],"aabb_xy":[[0.46317071457529124,-2.2490176379146236],[0.563156938793675,-2.1490176365662323]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[0.3969382002004709,-1.7043521932795482,0.71338606911949],"aabb_xy":[[0.30693820346486067,-1.7575356565968423],[0.4869381969360811,-1.6511687299622533]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[0.04430124438239369,-1.994613854147175,0.71338606911949],"aabb_xy":[[0.0015345375029734987,-2.0586138575689774],[0.08706795126181388,-1.9306138507253725]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.42079117667200366,-2.171655823920684,0.71338606911949],"aabb_xy":[[-0.43512560179816717,-2.1837160394752226],[-0.40645675154584027,-2.1595956083661454]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.44660657550819377,-0.3621311302607313,0.71338606911949],"aabb_xy":[[-0.49648927238588997,-0.4121311295070061],[-0.3967238786304976,-0.31213113101445655]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.5356923252460137,1.00067897632178,0.71338606911949],"aabb_xy":[[0.5045454064024306,0.9306789776349729],[0.5668392440895968,1.0706789750085872]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.6608649002646074,-1.4320340396987057,0.71338606911949],"aabb_xy":[[0.6502974206065084,-1.442579069811714],[0.6714323799227064,-1.421489009585697]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.6522526719776378,-1.5466427609656295,0.71338606911949],"aabb_xy":[[0.6022526716170716,-1.5966227481752324],[0.7022526723382038,-1.4966627737560265]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[-0.13608004171708787,-1.3931524383953606,0.71338606911949],"aabb_xy":[[-0.20008004209462146,-1.442897705246173],[-0.07208004133955423,-1.3434071715445484]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[-0.26382267864050646,-1.9100715471679297,0.71338606911949],"aabb_xy":[[-0.3438226800706336,-1.9895887021805392],[-0.1838226772103792,-1.8305543921553202]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.23121747627786254,-1.122047360727155,0.71338606911949],"aabb_xy":[[-0.23533342638993518,-1.1261629157600004],[-0.22710152616578985,-1.1179318056943093]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.1578061112481598,1.1209291250921352,0.71338606911949],"aabb_xy":[[0.12781444851428944,1.0909291257553344],[0.1877977739820301,1.1509291244289355]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.3287742609380258,0.47436384949915755,0.71338606911949],"aabb_xy":[[-0.3587418178478514,0.44436384920127187],[-0.2988067040282001,0.5043638497970433]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.6589511628886031,-1.0539556411081057,0.71338606911949],"aabb_xy":[[0.6339511636166407,-1.0703010047042678],[0.6839511621605653,-1.0376102775119431]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.07830008130347188,1.5576605180702807,0.71338606911949],"aabb_xy":[[-0.11479590193075062,1.521176575643523],[-0.04180426067619314,1.594144460497038]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[0.46621002072286033,1.3300014818869372,0.71338606911949],"aabb_xy":[[0.4553584144739848,1.319142191159286],[0.477061626971736,1.340860772614588]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[-0.3137295216946933,1.7851849920400098,0.71338606911949],"aabb_xy":[[-0.3228894006385699,1.7786537739964725],[-0.3045696427508167,1.7917162100835466]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.4626681393117948,0.31534439577658313,0.71338606911949],"aabb_xy":[[-0.5001681377351952,0.3021801818087525],[-0.42516814088839444,0.32850860974441376]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[-0.465946779939837,0.6562076098121392,0.71338606911949],"aabb_xy":[[-0.48349347485595595,0.618707608247888],[-0.4484000850237181,0.6937076113763905]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[-0.5402119970058735,-1.290018399542804,0.71338606911949],"aabb_xy":[[-0.5461785359466093,-1.2959795442021682],[-0.5342454580651376,-1.28405725488344]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[-0.015819374609217562,-1.4445964423804085,0.71338606911949],"aabb_xy":[[-0.02115695027522213,-1.4695964433095483],[-0.010481798943212994,-1.4195964414512687]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[-0.1536065478497759,-2.4564079197450726,0.71338606911949],"aabb_xy":[[-0.20358535636009178,-2.5064079197507914],[-0.10362773933946001,-2.4064079197393538]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.012255780679652495,-2.216238913152884,0.71338606911949],"aabb_xy":[[-0.024723138789388144,-2.2287042377862076],[0.0002115774300831541,-2.2037735885195606]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[-0.48886297938113366,1.0919440749496419,0.71338606911949],"aabb_xy":[[-0.568862977968453,1.0126284730114807],[-0.40886298079381417,1.1712596768878025]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_28","position":[-0.0994513585710971,-1.2095570175592811,0.71338606911949],"aabb_xy":[[-0.14926813803593186,-1.2595570160435845],[-0.04963457910626236,-1.1595570190749778]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_29","position":[0.2249192498112481,-2.0342256715830165,0.71338606911949],"aabb_xy":[[0.16992603847411136,-2.08922567192181],[0.27991246114838486,-1.9792256712442229]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_30","position":[-0.5300629286612656,-2.382878836591448,0.71338606911949],"aabb_xy":[[-0.5940629257733713,-2.4319112063858586],[-0.4660629315491599,-2.3338464667970373]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_31","position":[0.3510512913730077,1.4085919974925045,0.71338606911949],"aabb_xy":[[0.3010512904224749,1.377042850488983],[0.40105129232354053,1.4401411444960257]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_32","position":[0.45629401006871384,0.31604424634383044,0.71338606911949],"aabb_xy":[[0.38629400793728425,0.2932822807181347],[0.5262940122001434,0.33880621196952604]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_33","position":[0.6248676992947417,-2.5010152945793704,0.71338606911949],"aabb_xy":[[0.6155740810575911,-2.538515293067504],[0.6341613175318923,-2.463515296091236]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_34","position":[-0.26284254785781,-1.5406338447647547,0.71338606911949],"aabb_xy":[[-0.326842549907542,-1.5807283278540625],[-0.19884254580807803,-1.5005393616754465]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.675580807763994,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1795.png","name":"1795"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1795.png","name":"1795"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9683.png","name":"9683"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9549.png","name":"9549"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5465.png","name":"5465"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4703.png","name":"4703"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":826.5417453871416,"rotation_z_degrees":51.044609701583006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009021260462349004,-0.012892594650051343,-0.011319844278435251]},{"name":"camera_2","offset_m":[0.014002519787895348,-0.011529071777378497,-0.002228205842477595]},{"name":"camera_3","offset_m":[0.0006881367168133021,0.016114448868373123,-0.008747084512016915]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012880680723446657,-0.0016644520361536461,-0.0016131006509845728],"end_effector_yaw_offset_degrees":0.3189666793557804},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005165431379079441,-0.0004241030874116195,-0.0017047422147588498],"end_effector_yaw_offset_degrees":-0.3028485359267221},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005175262540857597,0.0004103109014315632,0.0003982731500737466],"end_effector_yaw_offset_degrees":-0.7408847107891456}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002714133000147626,0.0020910542541477464],"position_m":[0.30948586699985237,0.009991054254147747,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003549248299188737,0.0018316929384340156],"position_m":[0.2789492482991887,-0.306568307061566,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001482782940274414,-0.003985387582698145],"position_m":[0.1646172170597256,0.3005146124173019,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018857281384636717,-0.004033494487495605],"position_m":[0.34588572813846363,0.1582665055125044,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"113ea5d0d06b7baf687e938aee01e86ea9cc0c046f003fb9e43f6a25200bfe8f","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1795/tex_ceiling_textures_4703/tex_floor_textures_5465/tex_table_textures_9683/tex_wall_textures_9549","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":979285934034967086,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":979285934034967086,"visual_seed":979285934034967086,"scene_id":"lab_003","finished_at":"2026-09-04T13:49:51"} +{"episode_id":"ep_000002","started_at":"2026-09-04T13:49:54","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[-0.4329938383339718,-0.7595858809493248,0.71338606911949],"aabb_xy":[[-0.4641407571775549,-0.829585879636132],[-0.40184691949038864,-0.6895858822625176]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.6134589462434697,1.6801462249253727,0.71338606911949],"aabb_xy":[[-0.650253579368376,1.6432403498287902],[-0.5766643131185635,1.7170521000219547]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[0.4571002706810958,-2.412728713709633,0.71338606911949],"aabb_xy":[[0.41960026949630297,-2.417146936405693],[0.49460027186588856,-2.4083104910135718]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.3353957216955704,-1.1249928841966388,0.71338606911949],"aabb_xy":[[-0.34265696926597783,-1.1377798944601483],[-0.328134474125163,-1.1122058739331293]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[-0.06509819058589494,-0.735345685325034,0.71338606911949],"aabb_xy":[[-0.08259819083094432,-0.7528454731646007],[-0.04759819034084555,-0.717845897485467]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[-0.3727335925813563,-2.248998055478297,0.71338606911949],"aabb_xy":[[-0.38596453811603754,-2.262225474500296],[-0.35950264704667495,-2.235770636456297]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.313521232570083,-0.4056308658148131,0.71338606911949],"aabb_xy":[[-0.37752123283055383,-0.45063966516774107],[-0.24952123230961223,-0.36062206646188505]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[0.44359733866568374,-2.004082976468891,0.71338606911949],"aabb_xy":[[0.39751224741095226,-2.068082973721446],[0.4896824299204152,-1.940082979216336]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[0.24281975013767465,-1.176483235861555,0.71338606911949],"aabb_xy":[[0.22514411954907632,-1.1941634521409576],[0.260495380726273,-1.1588030195821521]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[-0.5690827321953636,-0.44102006784040837,0.71338606911949],"aabb_xy":[[-0.6330827336033543,-0.4928090193643331],[-0.505082730787373,-0.38923111631648366]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.2669631370088883,-1.2571130347837396,0.71338606911949],"aabb_xy":[[-0.33196313796601545,-1.3090612467174454],[-0.20196313605176106,-1.2051648228500342]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[-0.5432093282274492,-1.951969099649192,0.71338606911949],"aabb_xy":[[-0.5519232972773834,-1.9744691003083799],[-0.5344953591775145,-1.9294690989900034]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.2135116924054593,-1.7806030973885516,0.71338606911949],"aabb_xy":[[-0.27751169562409717,-1.8273262092875602],[-0.14951168918682148,-1.7338799854895435]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.47314920451244924,0.9354835557063761,0.71338606911949],"aabb_xy":[[0.413149204261048,0.8812022306699113],[0.5331492047638504,0.9897648807428406]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.1375167455338635,-0.789191782968907,0.71338606911949],"aabb_xy":[[-0.14938882854536462,-0.8741917826625573],[-0.1256446625223624,-0.7041917832752566]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.25456960327288747,0.13094535485679293,0.71338606911949],"aabb_xy":[[-0.27157970056293806,0.114810866358519],[-0.23755950598283676,0.14707984335506685]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[0.4786354217569526,-0.7723069993624865,0.71338606911949],"aabb_xy":[[0.4673903661863348,-0.7835487970865819],[0.48988047732757045,-0.7610652016383913]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.10829059054972034,-2.101340041039233,0.71338606911949],"aabb_xy":[[-0.13613562733032747,-2.1321245397775446],[-0.08044555376911322,-2.070555542300921]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[-0.5426318337118348,-0.20212595826780122,0.71338606911949],"aabb_xy":[[-0.5761110009728758,-0.23560507163890823],[-0.5091526664507939,-0.1686468448966942]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[-0.26349092214313535,-1.585727565027312,0.71338606911949],"aabb_xy":[[-0.313490921583331,-1.6356954895116282],[-0.21349092270293973,-1.5357596405429956]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.09678719246891232,-2.2965459013224585,0.71338606911949],"aabb_xy":[[0.09267124235683963,-2.3006614563553036],[0.10090314258098496,-2.2924303462896125]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.19851085928251688,-1.596109582197453,0.71338606911949],"aabb_xy":[[0.11851086062563093,-1.610614441121716],[0.27851085793940294,-1.5816047232731907]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.6056347412444174,0.9163754393783998,0.71338606911949],"aabb_xy":[[0.5952231825639336,0.9110297060425012],[0.616046299924901,0.9217211727142982]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[-0.39664135555627344,-0.2298117384151901,0.71338606911949],"aabb_xy":[[-0.40580123450015,-0.23634295645872713],[-0.3874814766123968,-0.2232805203716531]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_24","position":[-0.5863905852106848,-2.362175301511265,0.71338606911949],"aabb_xy":[[-0.594518273403998,-2.3710889099219727],[-0.5782628970173715,-2.353261693100557]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[-0.5622545217394914,0.8691426184039677,0.71338606911949],"aabb_xy":[[-0.5968456045935365,0.8041426181189365],[-0.5276634388854461,0.9341426186889986]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[0.3785416116450828,1.1856214306487312,0.71338606911949],"aabb_xy":[[0.31354161053913954,1.1606560575806029],[0.4435416127510261,1.2105868037168594]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_27","position":[0.30851459193915987,0.9086465140450266,0.71338606911949],"aabb_xy":[[0.29794711228106086,0.898101483932018],[0.3190820715972589,0.9191915441580352]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6739182056766732,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/99.png","name":"99"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/99.png","name":"99"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5860.png","name":"5860"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1872.png","name":"1872"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4297.png","name":"4297"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9100.png","name":"9100"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":552.299746640752,"rotation_z_degrees":93.70276293076307,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00720034687273929,-0.005779404945267222,0.006748272527649032]},{"name":"camera_2","offset_m":[-0.0024942478974660162,-0.014503539861018266,0.008219490285482519]},{"name":"camera_3","offset_m":[-0.017577220315586808,-0.01939815775604564,0.0026864936492147218]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015475315529170845,-0.001131776291444739,0.0002242670281536992],"end_effector_yaw_offset_degrees":0.14665131303828316},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018050841047022883,0.0008110893448284671,0.0010917998360547216],"end_effector_yaw_offset_degrees":0.0826975326287267},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003129873962359618,0.0002976220222826245,0.0007917847573751533],"end_effector_yaw_offset_degrees":0.9031262517987309}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006411437432470258,-0.0007528061246243343],"position_m":[0.31155885625675295,0.0071471938753756665,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001038153235435069,-0.003437582192387304],"position_m":[0.27436184676456493,-0.31183758219238733,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0044981718993737764,-0.004624421678753268],"position_m":[0.16160182810062623,0.2998755783212467,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030744426719190076,-0.0043146300964941875],"position_m":[0.34092555732808094,0.1579853699035058,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b41efacc4949732998de838692f23a46bbc32095ca9e9367d5d3edc7f4018594","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0002.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_99/tex_ceiling_textures_9100/tex_floor_textures_4297/tex_table_textures_5860/tex_wall_textures_1872","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6631499413100672153,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6631499413100672153,"visual_seed":6631499413100672153,"scene_id":"lab_003","finished_at":"2026-09-04T13:52:36"} +{"episode_id":"ep_000003","started_at":"2026-09-04T13:52:41","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.3202834692297528,-1.721163939955928,0.71338606911949],"aabb_xy":[[-0.37025676323301326,-1.7711639405104749],[-0.27031017522649237,-1.6711639394013802]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[-0.12311492442671312,0.9321798180581546,0.71338606911949],"aabb_xy":[[-0.2031149247003201,0.8592302702324379],[-0.043114924153106145,1.0051293658838714]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[-0.21104799704812977,0.4780356389294771,0.71338606911949],"aabb_xy":[[-0.27104799755598263,0.42118890524355573],[-0.15104799654027684,0.5348823726153983]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[0.2710036788464183,1.746310531209598,0.71338606911949],"aabb_xy":[[0.2543265428533228,1.7296106072356674],[0.2876808148395138,1.763010455183528]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[0.2539971587124844,-2.470477731922178,0.71338606911949],"aabb_xy":[[0.24358560003200064,-2.4758234652580757],[0.26440871739296806,-2.465131998586279]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[0.6458984051871948,-1.7599354488598502,0.71338606911949],"aabb_xy":[[0.6088642957591349,-1.7943126561935594],[0.6829325146152544,-1.7255582415261406]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[-0.4352520294700403,-1.093311526327049,0.71338606911949],"aabb_xy":[[-0.4432455192653224,-1.1013096582675248],[-0.42725853967475835,-1.0853133943865736]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.680842501341816,-0.9927310491402688,0.71338606911949],"aabb_xy":[[0.663264199152869,-1.0103055387143738],[0.6984208035307627,-0.9751565595661639]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.6728917170002,0.3545815161039467,0.71338606911949],"aabb_xy":[[-0.6816729441474364,0.3458017688154166],[-0.6641104898529638,0.3633612633924769]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[-0.32040982443008864,0.7154985439301136,0.71338606911949],"aabb_xy":[[-0.33364076996476993,0.702271124908114],[-0.30717887889540735,0.7287259629521129]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.5010510922281857,0.448745125019685,0.71338606911949],"aabb_xy":[[0.431051090096756,0.42598315939398923],[0.5710510943596151,0.47150709064538054]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[0.05593608399160166,1.6688345179465913,0.71338606911949],"aabb_xy":[[0.03843608471351479,1.6514964178802454],[0.07343608326968853,1.6861726180129373]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[-0.6673409371280749,-1.36120723198725,0.71338606911949],"aabb_xy":[[-0.6755554822437587,-1.369883822284891],[-0.6591263920123908,-1.3525306416896083]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[0.6248573045217398,-0.11726095651567858,0.71338606911949],"aabb_xy":[[0.6130891177270823,-0.20226095642090017],[0.6366254913163973,-0.032260956610457005]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[-0.10193300316472964,1.7089999347043006,0.71338606911949],"aabb_xy":[[-0.12081738693323985,1.6901140099239478],[-0.08304861939621944,1.7278858594846533]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.4925347796219117,1.1210742870451647,0.71338606911949],"aabb_xy":[[0.4700700096505066,1.098574286166304],[0.5149995495933168,1.143574287924025]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.09384473766905665,-1.3813859320185824,0.71338606911949],"aabb_xy":[[-0.1272849128650762,-1.4148295578495123],[-0.06040456247303703,-1.347942306187652]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[0.4462381851539061,0.7748774655845496,0.71338606911949],"aabb_xy":[[0.3565511088457907,0.6848774653300992],[0.5359252614620216,0.8648774658390003]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.6153517444426871,-1.94799517804358,0.71338606911949],"aabb_xy":[[-0.6287982710767304,-1.9614650296966716],[-0.6019052178086437,-1.934525326390489]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[0.11164802277406327,-1.9886063941611707,0.71338606911949],"aabb_xy":[[0.041648026364101455,-2.009044329812852],[0.181648019184025,-1.9681684585094885]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[-0.033369886591875675,-2.1570561545717872,0.71338606911949],"aabb_xy":[[-0.0833698879527629,-2.2070340591472024],[0.01663011476901154,-2.107078249996371]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[0.27081441660338346,-0.5250721279906072,0.71338606911949],"aabb_xy":[[0.20581441804631062,-0.5548246614044898],[0.3358144151604563,-0.4953195945767246]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[-0.5293988953911902,-0.9043495876386021,0.71338606911949],"aabb_xy":[[-0.5347364710571948,-0.9293495885677421],[-0.5240613197251857,-0.8793495867094625]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[-0.36264654171651733,1.300273083570838,0.71338606911949],"aabb_xy":[[-0.4001465422138756,1.2963044000227193],[-0.3251465412191591,1.3042417671189563]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6748745417513413,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6372.png","name":"6372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6372.png","name":"6372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7176.png","name":"7176"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/688.png","name":"688"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/181.png","name":"181"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7283.png","name":"7283"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":611.3355843603073,"rotation_z_degrees":144.22479735224877,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003977615586653053,-0.014621423447915598,-0.012327220830853265]},{"name":"camera_2","offset_m":[0.01546230621212764,-0.006496168197926599,-0.004818212629236998]},{"name":"camera_3","offset_m":[0.012248105349645228,-0.01927669849691718,0.005948272039637752]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005978023841870569,0.0017862734061669036,-0.0005021620252386163],"end_effector_yaw_offset_degrees":-0.18857926213109577},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016434243734801477,-0.0015902502517320275,0.00047263724052869866],"end_effector_yaw_offset_degrees":0.01678807423133133},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001367819796834406,0.00023394857005529842,-0.0007115827066195518],"end_effector_yaw_offset_degrees":-0.5523378445834606}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028734648151951475,0.003666527857735584],"position_m":[0.3150734648151951,0.011566527857735584,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003253624586721417,0.0028084210776438082],"position_m":[0.2786536245867214,-0.3055915789223562,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003846749219026574,0.0014627960449594803],"position_m":[0.16994674921902658,0.30596279604495946,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033604521708087724,-0.0006067263240812672],"position_m":[0.3406395478291912,0.16169327367591874,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3279b6a35b1659edf576ec7d13da99e6d448544761109c6c53b75d4d244063b4","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6372/tex_ceiling_textures_7283/tex_floor_textures_181/tex_table_textures_7176/tex_wall_textures_688","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6173381731517511380,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6173381731517511380,"visual_seed":6173381731517511380,"scene_id":"lab_003","finished_at":"2026-09-04T13:55:20"} +{"episode_id":"ep_000004","started_at":"2026-09-04T13:55:24","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.15474301352094633,-1.7490455286536517,0.71338606911949],"aabb_xy":[[-0.17832813698484118,-1.8140455308990837],[-0.13115789005705147,-1.6840455264082201]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[-0.48268137568119285,-0.40201531643974997,0.71338606911949],"aabb_xy":[[-0.532564072558889,-0.45201531568602477],[-0.43279867880349665,-0.35201531719347523]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.6286910938172051,-1.0384915578505063,0.71338606911949],"aabb_xy":[[-0.6785078732820399,-1.0884915563348094],[-0.5788743143523704,-0.9884915593662027]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.6189747427173211,1.1793821628931864,0.71338606911949],"aabb_xy":[[0.5549747454316726,1.1378754439403425],[0.6829747400029699,1.2208888818460304]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[0.3581418593218837,-1.616249595386057,0.71338606911949],"aabb_xy":[[0.3031681372855509,-1.6712495949502904],[0.4131155813582167,-1.561249595821824]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.1890868944442352,-1.014129821542579,0.71338606911949],"aabb_xy":[[-0.1999273726707501,-1.0313161028332276],[-0.17824641621772028,-0.9969435402519301]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[0.6146655524828888,-0.7154403033592609,0.71338606911949],"aabb_xy":[[0.5987810592175636,-0.729793243658085],[0.6305500457482139,-0.7010873630604368]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.5290941967585735,-0.7278507969178405,0.71338606911949],"aabb_xy":[[-0.5510028788979245,-0.7497514637379313],[-0.5071855146192225,-0.7059501300977499]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[0.6889430772578398,-0.17715233591514457,0.71338606911949],"aabb_xy":[[0.6848649193507902,-0.18123331616340788],[0.6930212351648896,-0.17307135566688125]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[-0.33129230830788764,-0.9817242638420223,0.71338606911949],"aabb_xy":[[-0.3687923088052459,-0.9856929473901407],[-0.2937923078105294,-0.9777555802939039]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.5974295848600044,-2.528025496921612,0.71338606911949],"aabb_xy":[[-0.6614295881497125,-2.5713604159255294],[-0.5334295815702963,-2.484690577917694]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.34884256905300237,0.1592025063699043,0.71338606911949],"aabb_xy":[[-0.36394487051402036,0.14410098473884242],[-0.33374026759198416,0.17430402800096606]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.07998659775439476,-2.1440405693058042,0.71338606911949],"aabb_xy":[[-0.1032684399525261,-2.229040570603032],[-0.05670475555626343,-2.0590405680085757]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.5306560859478298,-2.5492180715299826,0.71338606911949],"aabb_xy":[[0.5233948383774223,-2.562005081793492],[0.5379173335182372,-2.536431061266473]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.4902242519478268,-1.909208207721189,0.71338606911949],"aabb_xy":[[0.42622425464548036,-1.9535746346890455],[0.5542242492501732,-1.864841780753332]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.4525987457561267,-1.1088465749514167,0.71338606911949],"aabb_xy":[[0.40261579556864724,-1.1588465745939769],[0.5025816959436058,-1.058846575308856]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.4239880891448681,-0.5269788346836162,0.71338606911949],"aabb_xy":[[-0.503988089615084,-0.5352895422979645],[-0.3439880886746521,-0.5186681270692678]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[0.07765949003462891,-1.9966534147769277,0.71338606911949],"aabb_xy":[[0.023643893752728906,-2.0606534176691844],[0.1316750863165289,-1.93265341188467]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.6363940600392309,-0.15101624728283491,0.71338606911949],"aabb_xy":[[-0.6492659635401711,-0.23101624769667103],[-0.6235221565382908,-0.07101624686899875]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[0.2808530247867723,-2.508055603311277,0.71338606911949],"aabb_xy":[[0.2433530241221936,-2.523742661311499],[0.31835302545135097,-2.4923685453110545]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[0.017594180402273785,0.6696203496755784,0.71338606911949],"aabb_xy":[[-0.07240581609859796,0.62370870725712],[0.10759417690314553,0.7155319920940365]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[-0.6250554541890248,0.8726141136332002,0.71338606911949],"aabb_xy":[[-0.680050932009684,0.817614112199293],[-0.5700599763683653,0.9276141150671069]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[0.34172717978961153,1.1261902068016543,0.71338606911949],"aabb_xy":[[0.3356901667889468,1.1201635057327062],[0.34776419279027626,1.1322169078706024]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[-0.5107075943298747,-1.9451474433218174,0.71338606911949],"aabb_xy":[[-0.5172092308378793,-1.9549152653481272],[-0.50420595782187,-1.9353796212955077]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[0.33198189770841346,0.9663667439001302,0.71338606911949],"aabb_xy":[[0.2944818961927817,0.9551399708839851],[0.3694818992240451,0.9775935169162752]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[-0.0692659085859495,-1.7135200364725978,0.71338606911949],"aabb_xy":[[-0.07390102373818287,-1.7173873715497463],[-0.0646307934337161,-1.7096527013954488]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[0.534417738511366,0.18380308766007802,0.71338606911949],"aabb_xy":[[0.476787269624095,0.12380308873336737],[0.5920482073986367,0.24380308658678854]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[-0.4922801447573534,0.9939760713531736,0.71338606911949],"aabb_xy":[[-0.5003937994307305,0.9858702548991445],[-0.4841664900839763,1.0020818878072026]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_28","position":[-0.5740601318531469,0.6992830332569944,0.71338606911949],"aabb_xy":[[-0.6240549647810885,0.6492830343617509],[-0.5240652989252053,0.749283032152238]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_29","position":[0.564554588075457,-2.3560774360180905,0.71338606911949],"aabb_xy":[[0.5426648404865161,-2.446077433307339],[0.5864443356643977,-2.266077438728841]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712430437361397,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2327.png","name":"2327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2327.png","name":"2327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4396.png","name":"4396"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6656.png","name":"6656"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7503.png","name":"7503"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/817.png","name":"817"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":575.2025427371152,"rotation_z_degrees":271.05898422453595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017339052149825205,-0.0004873599447614979,-0.0007815455967025639]},{"name":"camera_2","offset_m":[-0.015791616862354984,0.010937865582960293,-0.019610694495517365]},{"name":"camera_3","offset_m":[0.0035441510355319027,-0.012243408592304985,0.0011243577355130041]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001458252200317928,0.0010616092345120906,0.0014260128640613766],"end_effector_yaw_offset_degrees":-0.833781225968655},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013711186861115948,-0.0005045174601906975,-0.000688925387806922],"end_effector_yaw_offset_degrees":-0.5681830001177715},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017589377862587048,-0.000950813913230267,0.00020831554186687877],"end_effector_yaw_offset_degrees":0.7688943291437274}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004782316245622416,0.0023985803465646285],"position_m":[0.3169823162456224,0.01029858034656463,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020079958955238797,0.00050051398849108],"position_m":[0.2733920041044761,-0.3078994860115089,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004394621138354017,-0.002895122363657974],"position_m":[0.161705378861646,0.30160487763634203,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033713772490247982,0.003998865809395618],"position_m":[0.34062862275097516,0.16629886580939562,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"307163c4afa17a05dac259d0d4f1ad5f51a9fcfca58f83d14ccad8712d4ae453","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2327/tex_ceiling_textures_817/tex_floor_textures_7503/tex_table_textures_4396/tex_wall_textures_6656","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5082850729708558860,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5082850729708558860,"visual_seed":5082850729708558860,"scene_id":"lab_003","finished_at":"2026-09-04T13:58:09"} +{"episode_id":"ep_000005","started_at":"2026-09-04T13:58:12","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.38451987566254475,1.6190800089855215,0.71338606911949],"aabb_xy":[[0.30451987864829677,1.5989454573121102],[0.46451987267679273,1.6392145606589328]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[-0.3810978116128231,1.5704265725299122,0.71338606911949],"aabb_xy":[[-0.4460978101698959,1.5406740391160294],[-0.31609781305575024,1.6001791059437946]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.6284053572834345,1.0340119196981599,0.71338606911949],"aabb_xy":[[0.6034053581178014,1.0270596739928033],[0.6534053564490676,1.0409641654035164]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[0.3802424613894755,-0.4713061006781736,0.71338606911949],"aabb_xy":[[0.31624246499390235,-0.5352693890969071],[0.4442424577850485,-0.40734281225944]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[-0.0984999045215067,-1.8892580080519839,0.71338606911949],"aabb_xy":[[-0.16249990310807916,-1.9362649714514926],[-0.03449990593493424,-1.8422510446524751]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.500082203732083,-1.2121013135981877,0.71338606911949],"aabb_xy":[[-0.51766050592103,-1.2296758031722925],[-0.48250390154313627,-1.194526824024083]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[0.5753604412802198,-2.5194606253094523,0.71338606911949],"aabb_xy":[[0.5517753178163249,-2.584460627554884],[0.5989455647441146,-2.4544606230640205]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[-0.5710752289416905,-1.907565032764206,0.71338606911949],"aabb_xy":[[-0.6210683410508825,-1.9575650334384018],[-0.5210821168324987,-1.8575650320900106]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.34664794386586917,0.5609511954895003,0.71338606911949],"aabb_xy":[[-0.36914707959209614,0.5384511947112374],[-0.3241488081396422,0.5834511962677633]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.17691739138319706,-1.529117340475251,0.71338606911949],"aabb_xy":[[0.15440369955973984,-1.5991173410762582],[0.19943108320665423,-1.4591173398742432]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.05522709335262754,-1.80489525863226,0.71338606911949],"aabb_xy":[[0.04976914771560747,-1.8848952619399193],[0.060685038989647604,-1.724895255324601]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[-0.06047894670343734,-1.005686381937635,0.71338606911949],"aabb_xy":[[-0.09494129410157914,-1.0401802643354574],[-0.026016599305295544,-0.9711924995398121]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.3271523449927438,-2.1795308100074005,0.71338606911949],"aabb_xy":[[0.3096524115587604,-2.1970308099276346],[0.34465227842672713,-2.1620308100871655]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[-0.16267417375378457,0.2262181483816632,0.71338606911949],"aabb_xy":[[-0.22667417516177524,0.1744291968577385],[-0.09867417234579391,0.2780070999055879]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.1749793497450488,-0.811753875251225,0.71338606911949],"aabb_xy":[[0.11997935012330299,-0.8667375680386978],[0.22997934936679468,-0.7567701824637524]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[0.39809054194857896,-1.4068420102008732,0.71338606911949],"aabb_xy":[[0.3180905445449854,-1.486834581399056],[0.4780905393521723,-1.3268494390026904]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[0.3000564556466092,1.1524957509456448,0.71338606911949],"aabb_xy":[[0.28185063198536153,1.1414703503636532],[0.3182622793078569,1.1635211515276365]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.0747650299427639,1.1398627426282868,0.71338606911949],"aabb_xy":[[-0.16476502644363564,1.0939511002098286],[0.015234966558107852,1.185774385046745]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.13728904552152865,0.9525618486635841,0.71338606911949],"aabb_xy":[[0.11978904527647928,0.9350620608240173],[0.15478904576657804,0.970061636503151]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_19","position":[-0.6783044240751727,-0.8837229612999076,0.71338606911949],"aabb_xy":[[-0.6879360602956023,-0.8933602740796165],[-0.668672787854743,-0.8740856485201987]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[-0.4656443858706512,-1.654393857100516,0.71338606911949],"aabb_xy":[[-0.5109230007518004,-1.7183938564486996],[-0.4203657709895019,-1.5903938577523322]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668297309664004,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3491.png","name":"3491"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3491.png","name":"3491"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7438.png","name":"7438"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/969.png","name":"969"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4083.png","name":"4083"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/646.png","name":"646"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":834.1811766228511,"rotation_z_degrees":151.0513941652804,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011759264299043375,-0.008557089908188846,0.005895487675679389]},{"name":"camera_2","offset_m":[0.003867468062727704,-0.005487757460280207,0.01944508624273388]},{"name":"camera_3","offset_m":[-0.009791838478354032,-0.008683782540673968,0.00552131406439969]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014235942898320761,0.0016489947297706068,-0.0004319259664621628],"end_effector_yaw_offset_degrees":-0.38020902868052575},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015505213503651427,-0.0017522036408379842,0.0018325352169229567],"end_effector_yaw_offset_degrees":-0.8064347578975906},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002473899166118695,9.191712349866134e-06,0.000772522280078433],"end_effector_yaw_offset_degrees":-0.33718817285621805}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003251962417820392,0.00306458007439176],"position_m":[0.3089480375821796,0.010964580074391762,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004597438692440181,0.0019061821340131983],"position_m":[0.2708025613075598,-0.3064938178659868,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007160935036091545,-0.004391542482148722],"position_m":[0.16538390649639084,0.30010845751785126,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021258166400840053,-0.0018218511690193694],"position_m":[0.341874183359916,0.16047814883098063,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"711100a535f587b970377d0ccd449dc38439c5f428be55d50a960c51ef3ffb50","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3491/tex_ceiling_textures_646/tex_floor_textures_4083/tex_table_textures_7438/tex_wall_textures_969","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":770508463042499034,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":770508463042499034,"visual_seed":770508463042499034,"scene_id":"lab_003","finished_at":"2026-09-04T14:00:57"} +{"episode_id":"ep_000006","started_at":"2026-09-04T14:01:00","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[0.6145941138111151,-0.03350695159012895,0.71338606911949],"aabb_xy":[[0.5646153053007991,-0.08350695159584776],[0.6645729223214308,0.016493048415589857]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.10475666150458485,1.7358041995749445,0.71338606911949],"aabb_xy":[[0.040756661127051216,1.6860589327241322],[0.16875666188211846,1.7855494664257567]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.35464050193861835,1.6819378851900066,0.71338606911949],"aabb_xy":[[-0.3600984475756384,1.6019378818823473],[-0.3491825563015983,1.7619378884976655]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[0.3054588269194043,-0.7014552940626677,0.71338606911949],"aabb_xy":[[0.27497457679237414,-0.7514552938441635],[0.33594307704643445,-0.6514552942811717]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[0.45338545097469996,-0.8569984782750439,0.71338606911949],"aabb_xy":[[0.38938545070072167,-0.9070645784723319],[0.5173854512486782,-0.806932378077756]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[-0.2889847520646375,-0.9808479735326574,0.71338606911949],"aabb_xy":[[-0.30213599803592683,-1.005847973289344],[-0.2758335060933481,-0.9558479737759709]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.13764654050941294,-2.190543787144619,0.71338606911949],"aabb_xy":[[-0.18763077621759017,-2.2405437859581148],[-0.08766230480123571,-2.1405437883311236]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.5059669216566988,-0.9064026947706763,0.71338606911949],"aabb_xy":[[-0.5859669186709467,-0.9265372464440875],[-0.4259669246424508,-0.886268143097265]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.416375249713385,0.9955763909075794,0.71338606911949],"aabb_xy":[[0.4126719883842461,0.9918743725988616],[0.4200785110425239,0.9992784092162973]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[-0.5878219215439653,-1.4481741415725335,0.71338606911949],"aabb_xy":[[-0.6378219228278051,-1.4981529959631554],[-0.5378219202601252,-1.3981952871819112]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[-0.08456825026742176,-1.6861966854808208,0.71338606911949],"aabb_xy":[[-0.14456825191034361,-1.7381968347727648],[-0.024568248624499925,-1.6341965361888764]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.12692099957353864,-0.22402981804917266,0.71338606911949],"aabb_xy":[[-0.19092100162327064,-0.2641243011384806],[-0.06292099752380664,-0.1839353349598647]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[-0.6094908772383493,-2.1530891363555984,0.71338606911949],"aabb_xy":[[-0.6340370928611,-2.183338032904635],[-0.5849446616155985,-2.122840239806561]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.32537856515284586,-0.8317605725958039,0.71338606911949],"aabb_xy":[[-0.36662737618276053,-0.8867605721080213],[-0.28412975412293107,-0.7767605730835864]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[-0.6261284659233839,-0.6840750850951343,0.71338606911949],"aabb_xy":[[-0.6461868775366242,-0.7041401720042919],[-0.6060700543101436,-0.6640099981859768]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.41697514546002495,0.12368351665903177,0.71338606911949],"aabb_xy":[[-0.45197514535604383,0.11530928114709182],[-0.3819751455640061,0.1320577521709717]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[-0.4275617804908695,-2.279584049087016,0.71338606911949],"aabb_xy":[[-0.4446638584492377,-2.296690854618286],[-0.4104597025325014,-2.2624772435557463]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[0.5658457202771361,-0.6140705886442179,0.71338606911949],"aabb_xy":[[0.5058457204305693,-0.6708892108372566],[0.6258457201237029,-0.5572519664511792]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[-0.2425160340055878,0.9047187205299272,0.71338606911949],"aabb_xy":[[-0.29653163028748775,0.8407187176376699],[-0.18850043772368777,0.9687187234221842]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.3430115284846791,-1.7011382919785398,0.71338606911949],"aabb_xy":[[0.2969264372299476,-1.765138289231095],[0.38909661973941057,-1.6371382947259847]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669921027023603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4466.png","name":"4466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4466.png","name":"4466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3888.png","name":"3888"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9276.png","name":"9276"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7731.png","name":"7731"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2189.png","name":"2189"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":622.5507136072674,"rotation_z_degrees":33.74570735825969,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016981167292054764,0.013840008769938471,0.013014407815218832]},{"name":"camera_2","offset_m":[0.008707370646073312,-0.00983455370586146,-0.010439043826088148]},{"name":"camera_3","offset_m":[-0.0007956866774920038,0.014090406250312808,0.017598136688287826]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00103459898306614,-0.0019418442525989507,-0.0014582948326966067],"end_effector_yaw_offset_degrees":-0.481954585829933},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001989517682691998,0.0010032812684987406,-0.0015025656482719413],"end_effector_yaw_offset_degrees":0.6626470506229005},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018412327560423307,0.0017753831947585163,0.0014011210909503943],"end_effector_yaw_offset_degrees":-0.5598684963158462}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023546489505569235,0.0015612940241469253],"position_m":[0.30984535104944305,0.009461294024146926,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004932257232826472,0.004108644466598965],"position_m":[0.2704677427671735,-0.30429135553340103,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00010260326386539367,0.0048227768063612035],"position_m":[0.16620260326386538,0.3093227768063612,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004965601946393316,-0.0014190402696190032],"position_m":[0.34350343980536063,0.160880959730381,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d7ba046d30fb8ed6e44833b10fd7d6011af6dce44121381cd9fdb26a78b32c8","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0006.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4466/tex_ceiling_textures_2189/tex_floor_textures_7731/tex_table_textures_3888/tex_wall_textures_9276","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":4545450333535681528,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":4545450333535681528,"visual_seed":4545450333535681528,"scene_id":"lab_003","finished_at":"2026-09-04T14:03:37"} +{"episode_id":"ep_000007","started_at":"2026-09-04T14:03:41","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.191548394797182,-2.2954416772193573,0.71338606911949],"aabb_xy":[[0.11154839614029599,-2.30994653614362],[0.271548393454068,-2.2809368182950944]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.5896337323866878,-0.11882628886376123,0.71338606911949],"aabb_xy":[[0.5256337321127096,-0.1688923890610492],[0.653633732660666,-0.06876018866647327]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[0.5922118667352554,-1.001958786513158,0.71338606911949],"aabb_xy":[[0.5880760104025552,-1.039458785957515],[0.5963477230679556,-0.9644587870688011]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.5727683679809998,0.2795655816655733,0.71338606911949],"aabb_xy":[[0.5502683679708515,0.26546936202597005],[0.5952683679911481,0.2936618013051766]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.30374667924413,-1.6853609028838719,0.71338606911949],"aabb_xy":[[0.2687466809334345,-1.6930759178074173],[0.3387466775548254,-1.677645887960326]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.652290439972957,1.6606585533820737,0.71338606911949],"aabb_xy":[[0.5882947425778603,1.5966585550813648],[0.7162861373680535,1.7246585516827821]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[0.7151419533162962,-1.3874237701282697,0.71338606911949],"aabb_xy":[[0.7091754143755604,-1.3933849147876336],[0.7211084922570319,-1.3814626254689053]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.34484455469481484,-1.1878795784398328,0.71338606911949],"aabb_xy":[[-0.3823445558796076,-1.1922978011358931],[-0.307344553510022,-1.183461355743772]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.22591868590373088,1.7473199744057237,0.71338606911949],"aabb_xy":[[0.2203370142696021,1.7348199745879485],[0.2315003575378596,1.7598199742234995]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.460283476981589,-1.70292473675091,0.71338606911949],"aabb_xy":[[-0.4758392463918543,-1.7184751699953174],[-0.4447277075713238,-1.687374303506503]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.4646314896947735,-1.0893525054083677,0.71338606911949],"aabb_xy":[[-0.5286314919151806,-1.133725589533656],[-0.4006314874743665,-1.0449794212830794]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[-0.08020139384355285,-2.0584526719467084,0.71338606911949],"aabb_xy":[[-0.0894950120807034,-2.095952670434842],[-0.07090777560640224,-2.020952673458574]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.07199890726888569,1.6595082598341748,0.71338606911949],"aabb_xy":[[-0.14199890990547204,1.6394033948383089],[-0.0019989046322993476,1.6796131248300399]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.022875752570694963,0.9461493693809957,0.71338606911949],"aabb_xy":[[-0.08787575357119548,0.8953630042263206],[0.042124248429805555,0.9969357345356705]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.6508328807357253,-2.280915846456852,0.71338606911949],"aabb_xy":[[-0.6678429780257759,-2.297050334955126],[-0.6338227834456746,-2.264781357958578]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_15","position":[0.06270373911626703,-0.8206108061209461,0.71338606911949],"aabb_xy":[[-0.02229625957580761,-0.8525966695158249],[0.14770373780834167,-0.7886249427260672]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.5016805326541873,-1.5873504955453066,0.71338606911949],"aabb_xy":[[0.47713431703143655,-1.6175993920943434],[0.5262267482769379,-1.5571015989962693]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[0.6306081620743913,-0.3437835265138376,0.71338606911949],"aabb_xy":[[0.5666081588557534,-0.39050663841284594],[0.6946081652930292,-0.29706041461482924]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[-0.167430964591197,-2.3285833429198606,0.71338606911949],"aabb_xy":[[-0.20243096372115266,-2.3343285639955242],[-0.13243096546124133,-2.322838121844196]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[-0.21987186405841735,-1.4872972183840456,0.71338606911949],"aabb_xy":[[-0.3098718663924364,-1.5647795729691585],[-0.1298718617243983,-1.4098148637989332]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[-0.02362445781440814,-1.5885954869666272,0.71338606911949],"aabb_xy":[[-0.05608615869633559,-1.6187283190815296],[0.008837243067519316,-1.5584626548517244]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.15059697477301182,-1.106853092443807,0.71338606911949],"aabb_xy":[[-0.22059697690444136,-1.1296150580695021],[-0.08059697264158228,-1.0840911268181108]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[-0.5926860379876504,0.8854327253974987,0.71338606911949],"aabb_xy":[[-0.5975296327488804,0.8805810729185146],[-0.5878424432264204,0.8902843778764828]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[0.3701232503616092,1.1747532299960626,0.71338606911949],"aabb_xy":[[0.3592827721350943,1.1575669487054139],[0.3809637285881241,1.1919395112867113]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[-0.013629271434837498,-0.3038338711885187,0.71338606911949],"aabb_xy":[[-0.019666284435502227,-0.3098605722574669],[-0.007592258434172773,-0.2978071701195705]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_25","position":[-0.2838313384179154,1.248863447498271,0.71338606911949],"aabb_xy":[[-0.2892892840549355,1.1688634441906116],[-0.27837339278089535,1.3288634508059298]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_26","position":[-0.1784472831571292,1.7844801116493305,0.71338606911949],"aabb_xy":[[-0.18779429073942447,1.7701764894316867],[-0.169100275574834,1.7987837338669748]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674974305364394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1488.png","name":"1488"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1488.png","name":"1488"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3204.png","name":"3204"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1078.png","name":"1078"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2146.png","name":"2146"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6672.png","name":"6672"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":676.932599248476,"rotation_z_degrees":247.7424324190846,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0163334147370112,-0.016621218769323015,-0.004485192040615118]},{"name":"camera_2","offset_m":[0.00581581208849798,-0.002386381425872483,-0.015967330341637193]},{"name":"camera_3","offset_m":[-0.013399098405685903,-0.016892604025761863,0.0028135319485341134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014009886475119895,0.001667847628002081,0.000759630976771071],"end_effector_yaw_offset_degrees":0.97402661247705},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00043235788120862795,0.001679276719768823,-0.00042983503755602073],"end_effector_yaw_offset_degrees":0.3090601725854587},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004398861406175146,-0.001178198250888674,-0.0001584019226485104],"end_effector_yaw_offset_degrees":0.24346764212565564}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010192789732633503,0.004978781915535681],"position_m":[0.31321927897326335,0.01287878191553568,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002500826367015487,-0.004209950705867752],"position_m":[0.2751499173632984,-0.3126099507058678,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002195118163198332,0.004688339933100748],"position_m":[0.16390488183680166,0.30918833993310074,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003600261766292712,0.004794277646647746],"position_m":[0.3403997382337073,0.16709427764664775,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d64ca09ccdfe59e4a5450c5a6c44068e493d396f992603dc505604db83f4b4ad","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1488/tex_ceiling_textures_6672/tex_floor_textures_2146/tex_table_textures_3204/tex_wall_textures_1078","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":1429909194905873531,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":1429909194905873531,"visual_seed":1429909194905873531,"scene_id":"lab_003","finished_at":"2026-09-04T14:06:24"} +{"episode_id":"ep_000008","started_at":"2026-09-04T14:06:27","dimensions":{"distractor":{"count":22,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[0.042240302253744755,-2.365950741395837,0.71338606911949],"aabb_xy":[[0.004740303678123946,-2.3786870370593944],[0.07974030082936555,-2.3532144457322786]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.1611258657279434,-1.555903395576034,0.71338606911949],"aabb_xy":[[0.1273503065372504,-1.5699418907891989],[0.19490142491863635,-1.541864900362869]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[-0.07134208064234504,1.0324251359052652,0.71338606911949],"aabb_xy":[[-0.15134208280510753,0.9524699522791216],[0.008657921520417444,1.1123803195314088]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[0.2646215069949557,1.1217442083821156,0.71338606911949],"aabb_xy":[[0.25928899234034275,1.11641988013688],[0.2699540216495687,1.1270685366273512]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.553442756400375,0.3389065032448051,0.71338606911949],"aabb_xy":[[-0.5909427566925498,0.3348650278442014],[-0.5159427561082002,0.34294797864540866]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_5","position":[-0.6708893557845987,-0.5084513848510337,0.71338606911949],"aabb_xy":[[-0.688564986373197,-0.5261316011304363],[-0.6532137251960003,-0.4907711685716309]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.4271426103030289,-0.7461987664110694,0.71338606911949],"aabb_xy":[[0.38105751904829743,-0.8101987636636245],[0.4732277015577604,-0.6821987691585143]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.05918820524647339,-1.9865570368265866,0.71338606911949],"aabb_xy":[[-0.08168820525662168,-2.0006532564661903],[-0.03668820523632509,-1.9724608171869835]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[0.6245754852670986,-2.141220422390668,0.71338606911949],"aabb_xy":[[0.5695822739299619,-2.196220422729462],[0.6795686966042354,-2.0862204220518747]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.10910347927836717,-1.9323716584350343,0.71338606911949],"aabb_xy":[[0.019103479859996275,-1.9657471552792243],[0.19910347869673806,-1.8989961615908448]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.5473638769134973,0.22229069927300493,0.71338606911949],"aabb_xy":[[-0.5553578654912006,0.21429061917791453],[-0.5393698883357938,0.23029077936809522]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[-0.1613080311103403,-1.1750070887322939,0.71338606911949],"aabb_xy":[[-0.1831977786992811,-1.2650070860215428],[-0.1394182835213995,-1.0850070914430445]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[-0.30043572726572854,1.7850842866664665,0.71338606911949],"aabb_xy":[[-0.335435725576424,1.7773692717429208],[-0.2654357289550331,1.792799301590012]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[0.40650676487886095,0.5992422606713834,0.71338606911949],"aabb_xy":[[0.3952617093082431,0.5880004629472882],[0.4177518204494788,0.6104840583954788]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[0.15478290254550642,-1.740719209986117,0.71338606911949],"aabb_xy":[[0.12978290261298855,-1.7476018782070406],[0.17978290247802434,-1.733836541765194]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[0.537281479597131,-0.9797908543551423,0.71338606911949],"aabb_xy":[[0.5134452619565261,-1.069790855163629],[0.5611176972377362,-0.8897908535466561]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.4567936777572955,0.754499529028529,0.71338606911949],"aabb_xy":[[-0.4742936770353824,0.737161428962183],[-0.43929367847920864,0.7718376290948749]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.12581600057530473,1.2319288096572434,0.71338606911949],"aabb_xy":[[0.10802249364038827,1.2141290640614457],[0.14360950751022114,1.249728555253041]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[-0.13719920732056679,0.21738062410828807,0.71338606911949],"aabb_xy":[[-0.217193030899125,0.1373806215154465],[-0.057205383742008564,0.29738062670112964]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.12149099152025689,1.3455592125749751,0.71338606911949],"aabb_xy":[[0.10888829238318043,1.3329638163501096],[0.13409369065733334,1.3581546087998406]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.5950135743873901,-1.6983014006489652,0.71338606911949],"aabb_xy":[[0.572514438661163,-1.7208014014272281],[0.617512710113617,-1.6758013998707022]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.3811919637328609,-1.4750005916022706,0.71338606911949],"aabb_xy":[[0.36513003627434326,-1.5600005934148624],[0.39725389119137855,-1.3900005897896788]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6699420604584,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7996.png","name":"7996"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7996.png","name":"7996"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4753.png","name":"4753"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9859.png","name":"9859"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1261.png","name":"1261"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8084.png","name":"8084"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":632.702368449395,"rotation_z_degrees":297.4733486298111,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01069720030029759,-0.011017744670488954,-0.013317224526033828]},{"name":"camera_2","offset_m":[0.010519128127614338,-0.01439474176350021,-0.011811395729517598]},{"name":"camera_3","offset_m":[0.013623625753778127,-0.010548088076360998,0.0036934143221811176]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001590192729237788,-0.0010780428140287235,4.842637488645203e-05],"end_effector_yaw_offset_degrees":-0.7151925039058877},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004679480991152331,-0.00022718005171516753,-0.0019191473120419409],"end_effector_yaw_offset_degrees":0.7599305521104773},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004907165129671462,-0.0007100693572093398,0.0019153072001717826],"end_effector_yaw_offset_degrees":-0.5200433309543036}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027321862734216145,-0.002853674617863419],"position_m":[0.31493218627342157,0.005046325382136582,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033047420267930065,0.0008248663391571412],"position_m":[0.272095257973207,-0.3075751336608429,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005131792163834206,0.001981052320765531],"position_m":[0.1666131792163834,0.3064810523207655,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016701908469660652,0.000293251631664675],"position_m":[0.3423298091530339,0.1625932516316647,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6d08590094c4ba80f270ac022b61a569dd221940c87202cff7138731e622a480","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7996/tex_ceiling_textures_8084/tex_floor_textures_1261/tex_table_textures_4753/tex_wall_textures_9859","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":7861662512800154209,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":7861662512800154209,"visual_seed":7861662512800154209,"scene_id":"lab_003","finished_at":"2026-09-04T14:08:59"} +{"episode_id":"ep_000009","started_at":"2026-09-04T14:09:02","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[0.29938243544600174,0.6033786149374492,0.71338606911949],"aabb_xy":[[0.27646672256095184,0.5804743178010257],[0.32229814833105164,0.6262829120738727]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.45074077142229174,-0.48542709484088586,0.71338606911949],"aabb_xy":[[0.43557789844535477,-0.5005925521360047],[0.46590364439922893,-0.4702616375457672]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.28747365500575967,1.129703859895295,0.71338606911949],"aabb_xy":[[-0.3249736555031179,1.1257351763471766],[-0.24997365450840142,1.1336725434434136]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.20408844173619084,-0.9980284914530217,0.71338606911949],"aabb_xy":[[-0.21671522902338716,-1.0075745651545946],[-0.19146165444899446,-0.9884824177514488]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.4513292175130954,1.708782885700701,0.71338606911949],"aabb_xy":[[0.4288300817868685,1.686282884922438],[0.47382835323932243,1.731282886478964]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[0.031927122215804515,1.360580073175655,0.71338606911949],"aabb_xy":[[0.009413430392347322,1.2905800725746475],[0.05444081403926171,1.4305800737766625]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.47984995050395973,1.5774265503073708,0.71338606911949],"aabb_xy":[[0.44553367332934174,1.527426550334193],[0.5141662276785777,1.6274265502805485]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[0.44410957896680525,-1.7549073259890813,0.71338606911949],"aabb_xy":[[0.39412662877932586,-1.8049073256316415],[0.49409252915428453,-1.7049073263465206]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.5792748340612708,-2.129820950521218,0.71338606911949],"aabb_xy":[[0.4992748308034278,-2.2098174583132018],[0.6592748373191137,-2.049824442729234]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.03812637547380038,-2.0680804932368626,0.71338606911949],"aabb_xy":[[-0.05513647276385103,-2.084214981735136],[-0.021116278183749726,-2.0519460047385882]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[-0.2426545168980258,-2.106582927638239,0.71338606911949],"aabb_xy":[[-0.2791503375253045,-2.1430668700649966],[-0.20615869627074704,-2.0700989852114815]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[-0.518693469482834,-0.3025155600169316,0.71338606911949],"aabb_xy":[[-0.6086934718168531,-0.37999791460204424],[-0.42869346714881496,-0.22503320543181893]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[0.18600796273431386,-1.593266506938487,0.71338606911949],"aabb_xy":[[0.13652754152035507,-1.657266504851339],[0.23548838394827265,-1.5292665090256354]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.4376586847173126,-0.61770493441901,0.71338606911949],"aabb_xy":[[-0.5176586818768879,-0.629252535376827],[-0.35765868755773733,-0.6061573334611929]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[0.0739328030664087,-2.3499971842115053,0.71338606911949],"aabb_xy":[[0.06929768791417529,-2.3538645192886536],[0.07856791821864206,-2.346129849134356]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[0.6064241439974207,1.0042726994389994,0.71338606911949],"aabb_xy":[[0.5264241418346581,0.9243175158128558],[0.6864241461601831,1.084227883065143]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.39903221147444085,-1.3423936253160675,0.71338606911949],"aabb_xy":[[-0.4141345129354589,-1.3574951469471288],[-0.3839299100134227,-1.3272921036850054]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[0.4756479990675391,1.4523633424198255,0.71338606911949],"aabb_xy":[[0.4421688318064982,1.4188842290487185],[0.5091271663285801,1.4858424557909324]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[0.016003817478186022,-1.0869621938614085,0.71338606911949],"aabb_xy":[[0.0008316481965526847,-1.1021310507896118],[0.031175986759819366,-1.071793336933205]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.4392969624840184,0.21245272997361475,0.71338606911949],"aabb_xy":[[0.4017969623784254,0.20563056812063363],[0.4767969625896113,0.21927489182659587]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.5248104438641825,-1.3563987937372541,0.71338606911949],"aabb_xy":[[-0.537961689835472,-1.3813987934939407],[-0.5116591978928933,-1.3313987939805676]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[0.20161105210591745,-2.102030808720296,0.71338606911949],"aabb_xy":[[0.18406435718979852,-2.139530810284547],[0.2191577470220364,-2.064530807156044]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686396170776916,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8280.png","name":"8280"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8280.png","name":"8280"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4497.png","name":"4497"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5510.png","name":"5510"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8055.png","name":"8055"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9814.png","name":"9814"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":816.4279535999717,"rotation_z_degrees":56.895920331742644,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01927489563857557,-0.012101553981054898,0.01895122957069532]},{"name":"camera_2","offset_m":[-0.010796691988454295,-0.008757522593917062,-0.005453571792729206]},{"name":"camera_3","offset_m":[0.016133800522644706,-0.015253035225051104,-0.012143283869952093]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019276223959966811,-0.0006032382747117072,-0.00197900872527054],"end_effector_yaw_offset_degrees":-0.5471043384441034},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011639510085840882,0.001231203779109685,0.0014193692230802394],"end_effector_yaw_offset_degrees":0.04526794815491808},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008715542384343518,0.0010428945182819759,0.0001581612833338737],"end_effector_yaw_offset_degrees":0.44612956688711414}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001974932142618846,-0.002096719954779468],"position_m":[0.3141749321426188,0.005803280045220533,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00460060969150089,0.0011544005914648856],"position_m":[0.2707993903084991,-0.30724559940853513,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002274979950345827,-0.004135278431708662],"position_m":[0.16837497995034584,0.3003647215682913,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001261758938476928,0.002876971912475012],"position_m":[0.3452617589384769,0.16517697191247502,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"33924c3fc94fae74db0b376492007d645156361fe47b4f32ec7fd7e0587bdfd8","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8280/tex_ceiling_textures_9814/tex_floor_textures_8055/tex_table_textures_4497/tex_wall_textures_5510","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":105091964261168136,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":105091964261168136,"visual_seed":105091964261168136,"scene_id":"lab_003","finished_at":"2026-09-04T14:11:42"} +{"episode_id":"ep_000010","started_at":"2026-09-04T14:11:47","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[-0.3141729957816312,0.36289031085495616,0.71338606911949],"aabb_xy":[[-0.363989775246466,0.31289031237065273],[-0.26435621631679646,0.41289030933925946]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.13229950755928954,-2.3593489821863822,0.71338606911949],"aabb_xy":[[-0.18227280156255,-2.409348982740929],[-0.0823262135560291,-2.3093489816318344]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.5140652919821151,-0.9794215835816023,0.71338606911949],"aabb_xy":[[-0.5189645842886786,-1.0070985028841708],[-0.5091659996755517,-0.9517446642790333]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[-0.05114680307072539,0.1330456777893123,0.71338606911949],"aabb_xy":[[-0.05914029286600742,0.12504754584883668],[-0.04315331327544336,0.141043809729788]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.6151793592305785,-1.7320091679363065,0.71338606911949],"aabb_xy":[[0.5501793581246353,-1.7569745410044348],[0.6801793603365218,-1.7070437948681783]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.6410955437972785,-1.923441092613899,0.71338606911949],"aabb_xy":[[0.634054092846531,-1.9304678443516936],[0.6481369947480262,-1.9164143408761043]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.2773700780864715,0.8165544675733232,0.71338606911949],"aabb_xy":[[0.21737007783507023,0.7622731425368585],[0.3373700783378726,0.8708357926097878]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[-0.608565741176174,0.5724857395925707,0.71338606911949],"aabb_xy":[[-0.6146027541768387,0.5664590385236226],[-0.6025287281755093,0.578512440661519]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.2037361005161143,0.8756239352123103,0.71338606911949],"aabb_xy":[[-0.20717677675617152,0.871762502237946],[-0.20029542427605718,0.879485368186675]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[-0.2464423994023331,-0.9654191264869956,0.71338606911949],"aabb_xy":[[-0.283942399507926,-0.9722412883399766],[-0.20894239929674013,-0.9585969646340143]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[0.5189428988497462,-2.0987775058356344,0.71338606911949],"aabb_xy":[[0.4964428988395979,-2.112873725475238],[0.5414428988598945,-2.0846812861960315]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.401173270901819,-2.0367858595921327,0.71338606911949],"aabb_xy":[[0.3868388457756555,-2.0488460751466713],[0.41550769602798243,-2.024725644037594]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[0.18636013444284616,-1.5886759618203186,0.71338606911949],"aabb_xy":[[0.1488601346258126,-1.5933141731314604],[0.22386013425987972,-1.5840377505091767]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[0.2648980147470059,0.5974709188770597,0.71338606911949],"aabb_xy":[[0.2149030037875539,0.5474709198414681],[0.31489302570645794,0.6474709179126515]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[0.657442614632743,0.45388165562608807,0.71338606911949],"aabb_xy":[[0.5934469172376464,0.3898816573253794],[0.7214383120278396,0.5178816539267967]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[-0.15522506584068707,-1.0700004969152765,0.71338606911949],"aabb_xy":[[-0.1917208864679658,-1.1064844393420339],[-0.11872924521340833,-1.0335165544885188]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[0.2225213766087627,1.7372191346746386,0.71338606911949],"aabb_xy":[[0.1525213744773331,1.7144571690489423],[0.2925213787401922,1.7599811003003336]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[-0.36448513046612907,-0.9359103375359223,0.71338606911949],"aabb_xy":[[-0.3717674468427926,-1.0259103411454311],[-0.3572028140894653,-0.8459103339264131]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[-0.3000281401735368,-0.7447774790662525,0.71338606911949],"aabb_xy":[[-0.3109339162610995,-0.8247774754650816],[-0.2891223640859741,-0.6647774826674233]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.30887721105655563,-2.377344310836399,0.71338606911949],"aabb_xy":[[0.2538839997194189,-2.432344311175193],[0.3638704223936924,-2.3223443104976056]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.11524896144664021,1.2208812885023792,0.71338606911949],"aabb_xy":[[-0.152748960022261,1.2081449928388213],[-0.07774896287101939,1.2336175841659371]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[0.4622099734551739,-0.5035048038905825,0.71338606911949],"aabb_xy":[[0.45399542833948986,-0.5121813941882236],[0.4704245185708578,-0.49482821359294105]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[-0.03453298564144813,1.012546876785703,0.71338606911949],"aabb_xy":[[-0.05704667746490532,0.9425468761846953],[-0.012019293817990932,1.0825468773867104]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.6213402257157903,-1.021879945646688,0.71338606911949],"aabb_xy":[[-0.6325852812864081,-1.0331217433707836],[-0.6100951701451724,-1.010638147922593]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[0.27014827961061294,-2.0559307725273337,0.71338606911949],"aabb_xy":[[0.2622249993718646,-2.0784307727653366],[0.27807155984936127,-2.03343077228933]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[0.26887555343876246,-1.2408728506739168,0.71338606911949],"aabb_xy":[[0.2635430387841495,-1.2461971789191524],[0.27420806809337545,-1.2355485224286813]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[0.3807740768407879,1.5851574035906322,0.71338606911949],"aabb_xy":[[0.3582740763287473,1.5626655452252334],[0.4032740773528285,1.60764926195603]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_27","position":[-0.14134594572180115,-1.526695441861021,0.71338606911949],"aabb_xy":[[-0.19897641460907195,-1.586695440787731],[-0.08371547683453028,-1.46669544293431]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.677105652461192,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2787.png","name":"2787"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2787.png","name":"2787"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3282.png","name":"3282"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8446.png","name":"8446"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3580.png","name":"3580"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7768.png","name":"7768"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":543.0955417487902,"rotation_z_degrees":20.595158009562265,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003255234937165931,-0.007063505238920395,0.003457832313625616]},{"name":"camera_2","offset_m":[-0.00850247558677841,-0.015555910685029617,0.019024179028944193]},{"name":"camera_3","offset_m":[-0.011405338619353986,0.007729569538517687,-0.006356163419824035]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011804688084431879,-0.0014663941373471916,-0.0005546977480416326],"end_effector_yaw_offset_degrees":-0.3268187907821092},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002725602076404975,-0.000560034866100951,-0.0014227227655288833],"end_effector_yaw_offset_degrees":-0.8777527415387216},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009059903038731126,-0.0017467451316798398,-0.0016398573528120792],"end_effector_yaw_offset_degrees":0.6735482295590003}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003399879987391304,-0.004646029602917292],"position_m":[0.3125399879987391,0.003253970397082709,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004585101343092948,0.0005063909499855579],"position_m":[0.2799851013430929,-0.30789360905001445,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014097702745791982,0.002079190271547968],"position_m":[0.1675097702745792,0.30657919027154795,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027799612810610265,-0.0004911884324659485],"position_m":[0.34122003871893897,0.16180881156753404,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"153f04314054d992779cd8a60ac28885e2c04a6fdc505e0734ca267db101a7ea","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2787/tex_ceiling_textures_7768/tex_floor_textures_3580/tex_table_textures_3282/tex_wall_textures_8446","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6222732839177087437,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6222732839177087437,"visual_seed":6222732839177087437,"scene_id":"lab_003","finished_at":"2026-09-04T14:14:31"} +{"episode_id":"ep_000011","started_at":"2026-09-04T14:14:34","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[0.0911519726695349,-1.539711824458414,0.71338606911949],"aabb_xy":[[0.02115197003294854,-1.559816689454279],[0.16115197530612124,-1.519606959462548]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.6060158455463394,1.0985447910856125,0.71338606911949],"aabb_xy":[[-0.6365000956733695,1.0485447913041166],[-0.5755315954193092,1.1485447908671085]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.5592340246098433,-0.2486280763601174,0.71338606911949],"aabb_xy":[[0.4695469483017277,-0.33862807661456795],[0.6489211009179586,-0.15862807610566687]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[0.20281563112548306,-0.9511056354659249,0.71338606911949],"aabb_xy":[[0.15764431327731412,-1.0151056326104633],[0.2479869489736521,-0.8871056383213866]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[0.5200769552927436,-1.4325623008213972,0.71338606911949],"aabb_xy":[[0.5066304286587002,-1.4460321524744881],[0.5335234819267869,-1.419092449168306]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[-0.19370080473021156,1.3043434493430044,0.71338606911949],"aabb_xy":[[-0.19761467792563409,1.2955944339364476],[-0.18978693153478904,1.3130924647495612]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[-0.37578174493332295,-2.2566257390977063,0.71338606911949],"aabb_xy":[[-0.4557817470960854,-2.33658092272385],[-0.2957817427705604,-2.1766705554715626]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.377256540091874,0.3550834999372263,0.71338606911949],"aabb_xy":[[-0.415802232917075,0.3165377288810376],[-0.33871084726667294,0.39362927099341494]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[0.08920070408564695,0.6876361956401071,0.71338606911949],"aabb_xy":[[0.0342074927485102,0.6326361953013137],[0.1441939154227837,0.7426361959789008]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[0.37989451513212913,-0.8806140418930668,0.71338606911949],"aabb_xy":[[0.3598361035188888,-0.9006791288022243],[0.39995292674536936,-0.8605489549839093]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.16965821782663082,-1.7366387097832412,0.71338606911949],"aabb_xy":[[-0.23965821963537626,-1.7579924785474286],[-0.09965821601788538,-1.7152849410190538]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.3985398873633671,-2.445651907483265,0.71338606911949],"aabb_xy":[[-0.40931286128473493,-2.4806519057023038],[-0.3877669134419994,-2.410651909264226]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[-0.5674294426529665,-1.724498090840923,0.71338606911949],"aabb_xy":[[-0.5924294418185996,-1.7314503365462797],[-0.5424294434873334,-1.7175458451355665]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.4424773551695596,-1.2355914713383043,0.71338606911949],"aabb_xy":[[-0.5224773521838075,-1.2557260230117153],[-0.3624773581553116,-1.2154569196648928]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.4292492341477492,-2.2559476198379094,0.71338606911949],"aabb_xy":[[0.3946581512937039,-2.32094762012294],[0.46384031700179434,-2.190947619552878]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.7116195690783433,-1.2498126975464665,0.71338606911949],"aabb_xy":[[0.6998513822836857,-1.334812697451688],[0.7233877558730007,-1.164812697641245]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[-0.19969532949189744,-0.6880574703882942,0.71338606911949],"aabb_xy":[[-0.2636953280784699,-0.7350644337878028],[-0.13569533090532498,-0.6410505069887854]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.4013566406131255,1.3965410273193175,0.71338606911949],"aabb_xy":[[0.3513566396625926,1.3649918803157959],[0.45135664156365823,1.4280901743228387]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.5259282794722009,1.7960697905861003,0.71338606911949],"aabb_xy":[[-0.5433589945512072,1.778797675922249],[-0.5084975643931942,1.8133419052499506]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[0.12055764286132709,-2.5536668123486774,0.71338606911949],"aabb_xy":[[0.11711696662126991,-2.557528245323042],[0.12399831910138426,-2.549805379374313]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[-0.5856393980140798,-2.040797074811948,0.71338606911949],"aabb_xy":[[-0.6309180128952291,-2.104797074160132],[-0.5403607831329306,-1.9767970754637645]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.2514351111178027,0.7920174354608465,0.71338606911949],"aabb_xy":[[-0.25913830179187974,0.7843080647621083],[-0.24373192044372566,0.7997268061595844]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[0.0347592636198818,-0.8518577369139246,0.71338606911949],"aabb_xy":[[-0.015338200361191823,-0.9158577374237364],[0.08485672760095542,-0.7878577364041128]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_23","position":[-0.08123841624341077,1.1626082620313518,0.71338606911949],"aabb_xy":[[-0.14623841888120426,1.1111286633319049],[-0.016238413605617272,1.2140878607307988]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[0.35257671843546645,-0.735668896923005,0.71338606911949],"aabb_xy":[[0.30257671899527083,-0.7856368214073212],[0.40257671787566207,-0.6857009724386885]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[0.45587725575552174,0.9423371264021614,0.71338606911949],"aabb_xy":[[0.3858772523639597,0.9070213526987305],[0.5258772591470836,0.9776529001055922]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_26","position":[-0.1222769218783375,0.9694259937630907,0.71338606911949],"aabb_xy":[[-0.14477605760456447,0.9469259929848277],[-0.09977778615211053,0.9919259945413537]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[0.3717034631046292,-0.4516958270372844,0.71338606911949],"aabb_xy":[[0.3392417622227017,-0.48182865915218687],[0.4041651639865566,-0.4215629949223816]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_28","position":[-0.10180550737614702,-2.038967695466458,0.71338606911949],"aabb_xy":[[-0.12564172501675208,-2.1289676962749446],[-0.07796928973554194,-1.9489676946579717]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_29","position":[-0.5194994684724276,-1.3175458323813143,0.71338606911949],"aabb_xy":[[-0.537292975407344,-1.335345577977112],[-0.5017059615375111,-1.2997460867855166]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[-0.08437256838129603,-2.453028459273593,0.71338606911949],"aabb_xy":[[-0.10043449583981366,-2.5380284610861845],[-0.06831064092277837,-2.368028457461001]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_31","position":[-0.2772374208672333,1.125265830574174,0.71338606911949],"aabb_xy":[[-0.32705420033206806,1.0752658320898705],[-0.22742064140239854,1.1752658290584772]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6738320634204313,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3819.png","name":"3819"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3819.png","name":"3819"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/430.png","name":"430"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6055.png","name":"6055"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5472.png","name":"5472"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1891.png","name":"1891"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":626.5727838224116,"rotation_z_degrees":355.6413053492764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012300351918422145,-0.002958845830140149,0.014673588602089335]},{"name":"camera_2","offset_m":[-0.007489305720796478,0.016693549960354073,0.011917897279959292]},{"name":"camera_3","offset_m":[0.014519367634841861,0.010722279279488118,0.0032887473456841877]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014756937398391736,-0.0016265149844867301,-0.0014785062678534674],"end_effector_yaw_offset_degrees":-0.24969690673737266},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00032428180881249316,0.0006132693423484886,0.001502679331875955],"end_effector_yaw_offset_degrees":0.19563915680406407},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017853152841504345,-0.0011905736364057323,0.0017904499737967546],"end_effector_yaw_offset_degrees":0.5741011156520976}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[5.40649859998351e-05,-0.003906365856968063],"position_m":[0.31225406498599984,0.003993634143031938,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001006236296900614,0.0006993006958108828],"position_m":[0.2764062362969006,-0.30770069930418914,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024826705223859693,0.003901039590521213],"position_m":[0.16361732947761404,0.30840103959052123,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021557306023436903,0.001341348671693574],"position_m":[0.34615573060234367,0.16364134867169358,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b4fcb5ddf20f173313b386db3c621f086e13a5f2722be4c2ba846ab04125e85a","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3819/tex_ceiling_textures_1891/tex_floor_textures_5472/tex_table_textures_430/tex_wall_textures_6055","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":2686038527608116342,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":2686038527608116342,"visual_seed":2686038527608116342,"scene_id":"lab_003","finished_at":"2026-09-04T14:17:16"} +{"episode_id":"ep_000012","started_at":"2026-09-04T14:17:19","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.4863703688260357,-0.19311656222460716,0.71338606911949],"aabb_xy":[[-0.5285547829868665,-0.25711656250181836],[-0.44418595466520505,-0.12911656194739596]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.2414644681685465,0.5710955537267122,0.71338606911949],"aabb_xy":[[0.17146446603711693,0.5483335881010165],[0.31146447029997604,0.5938575193524078]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[-0.32185918880565384,1.173167427842066,0.71338606911949],"aabb_xy":[[-0.3297824690444021,1.1506674276040627],[-0.31393590856690545,1.1956674280800694]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.3297104595618283,1.7561366412927106,0.71338606911949],"aabb_xy":[[0.26571045627212014,1.712801722288793],[0.3937104628515364,1.7994715602966282]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.4172493591604562,1.7138891524767454,0.71338606911949],"aabb_xy":[[-0.4624206770086252,1.6498891553322073],[-0.3720780413122872,1.777889149621284]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[-0.1189613665130036,-0.9885046731911422,0.71338606911949],"aabb_xy":[[-0.17395361714851457,-1.043504674934455],[-0.06396911587749267,-0.9335046714478294]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.29027430903822204,-0.4110386535423656,0.71338606911949],"aabb_xy":[[-0.3802743113722411,-0.4885210081274782],[-0.200274306704203,-0.33355629895725286]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.17545457463867575,-1.0907806088410137,0.71338606911949],"aabb_xy":[[-0.21295457493085054,-1.0948220842416172],[-0.1379545743465009,-1.0867391334404102]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[-0.15521294598657132,-0.1648196816945413,0.71338606911949],"aabb_xy":[[-0.19021294429726676,-0.17253469661808696],[-0.12021294767587587,-0.15710466677099566]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.6725201073501619,-2.224618260055605,0.71338606911949],"aabb_xy":[[-0.6821517435705915,-2.234255572835314],[-0.6628884711297323,-2.214980947275896]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.6393496984823719,-1.2942718573377296,0.71338606911949],"aabb_xy":[[-0.6486433167195224,-1.3317718558258635],[-0.6300560802452212,-1.2567718588495957]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.5503537096135637,0.5739562462253125,0.71338606911949],"aabb_xy":[[-0.6003487205730157,0.5239562471897209],[-0.5003586986541116,0.6239562452609043]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[0.42468531869254145,0.2439486906418704,0.71338606911949],"aabb_xy":[[0.3912451434965218,0.21050506481094033],[0.458125493888561,0.2773923164728005]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.34402699840226264,-2.2219371362530724,0.71338606911949],"aabb_xy":[[-0.350339097938601,-2.227704075506291],[-0.33771489886592415,-2.2161701969998537]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.338236146113589,-2.354112118040095,0.71338606911949],"aabb_xy":[[0.31795184339019017,-2.374394743182804],[0.3585204488369877,-2.3338294928973857]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.09924058325778273,1.2171691876720634,0.71338606911949],"aabb_xy":[[0.08174058397969586,1.1998310876057174],[0.11674058253586961,1.2345072877384093]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.2884223114298112,1.0271228019143899,0.71338606911949],"aabb_xy":[[-0.3784223100242811,1.010872215600969],[-0.19842231283534123,1.0433733882278111]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[-0.035802828915601825,0.8960549488636387,0.71338606911949],"aabb_xy":[[-0.11580282689638688,0.8884534079017868],[0.044197169065183214,0.9036564898254907]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[0.31562449081503874,-1.3259732561317332,0.71338606911949],"aabb_xy":[[0.2306244923976155,-1.4108475515940184],[0.40062448923246197,-1.2410989606694485]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.4792952293440924,-2.0989741948665483,0.71338606911949],"aabb_xy":[[0.39929523194049893,-2.1789667660647307],[0.5592952267476857,-2.018981623668365]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.38518779786205815,1.3796559992262756,0.71338606911949],"aabb_xy":[[0.30518779739184226,1.3713452916119273],[0.4651877983322742,1.3879667068406238]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[0.3767693339884075,-1.6037744897443555,0.71338606911949],"aabb_xy":[[0.31276933371442933,-1.6538405899416435],[0.4407693342623858,-1.5537083895470676]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[-0.34755718049682577,-2.506263915633232,0.71338606911949],"aabb_xy":[[-0.3700708723202829,-2.5762639162342396],[-0.3250434886733685,-2.4362639150322245]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.46213202265702624,-2.352677142140657,0.71338606911949],"aabb_xy":[[-0.48463202316906684,-2.375169000506055],[-0.43963202214498565,-2.330185283775258]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[0.29623553709148853,-1.864762469632414,0.71338606911949],"aabb_xy":[[0.28812188241811143,-1.8728682860864432],[0.30434919176486563,-1.856656653178385]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[-0.4719191634009579,-1.356148790184636,0.71338606911949],"aabb_xy":[[-0.5217359428657926,-1.4061487886689394],[-0.42210238393612315,-1.3061487917003327]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6717492125064936,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7495.png","name":"7495"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7495.png","name":"7495"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7313.png","name":"7313"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8111.png","name":"8111"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/764.png","name":"764"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6963.png","name":"6963"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":535.8802277627597,"rotation_z_degrees":152.18786358454204,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00949357563505986,-0.005177688343401354,0.0057988957665389765]},{"name":"camera_2","offset_m":[0.017507412663989096,0.0028338545295921898,-0.006714754845253657]},{"name":"camera_3","offset_m":[0.018061994182913283,0.01036120662539751,0.009190095308325957]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002701638640799722,0.0019009961654022317,0.0019748463643215995],"end_effector_yaw_offset_degrees":0.5572968805461587},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00043536337976325624,-0.0007970283331799962,-0.001371720414878444],"end_effector_yaw_offset_degrees":0.8968976774633053},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00012437528605905353,-0.001514534158223777,0.0014895029706860725],"end_effector_yaw_offset_degrees":-0.7173733684808754}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004834427144606212,0.001837805963580355],"position_m":[0.31703442714460617,0.009737805963580357,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030493258051248083,-0.002603146721787961],"position_m":[0.2723506741948752,-0.31100314672178797,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004560725304557084,-0.0003970375478597856],"position_m":[0.1615392746954429,0.3041029624521402,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[4.4672224534945265e-05,-0.0001757803481443167],"position_m":[0.34404467222453494,0.1621242196518557,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"87e60e685c713a183a0080747a09dd9bcc74f7a0c317f7539620fb9233f03328","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7495/tex_ceiling_textures_6963/tex_floor_textures_764/tex_table_textures_7313/tex_wall_textures_8111","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6389046542936502398,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6389046542936502398,"visual_seed":6389046542936502398,"scene_id":"lab_003","finished_at":"2026-09-04T14:19:57"} +{"episode_id":"ep_000013","started_at":"2026-09-04T14:20:00","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.6750831223312541,-1.6167236116419765,0.71338606911949],"aabb_xy":[[0.6575831888972707,-1.6342236115622109],[0.6925830557652375,-1.5992236117217418]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.4819561946965961,-1.2578899968817225,0.71338606911949],"aabb_xy":[[-0.5269487814150465,-1.3028899961561713],[-0.4369636079781457,-1.2128899976072738]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.663336752199333,-2.230631156364665,0.71338606911949],"aabb_xy":[[0.6524309761117701,-2.310631152763494],[0.6742425282868956,-2.150631159965836]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.2625881166299194,1.4359890993972715,0.71338606911949],"aabb_xy":[[-0.332588113039881,1.4155511637455893],[-0.19258812021995744,1.4564270350489528]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.4447634157950111,-0.029775730530575473,0.71338606911949],"aabb_xy":[[-0.48179752522307084,-0.06415293786428491],[-0.40772930636695137,0.00460147680313398]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.3412019102072239,-1.0841174759388459,0.71338606911949],"aabb_xy":[[0.3037019102634575,-1.0924105659736825],[0.3787019101509903,-1.0758243859040093]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[-0.5902662826182865,1.1945706025037177,0.71338606911949],"aabb_xy":[[-0.594180155813709,1.1858215870971607],[-0.586352409422864,1.2033196179102743]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.695275861187628,-1.0570021920011272,0.71338606911949],"aabb_xy":[[0.6809414360614644,-1.069062407555666],[0.7096102863137913,-1.0449419764465884]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[0.2180757818867738,-0.5994027393119652,0.71338606911949],"aabb_xy":[[0.13807578322988778,-0.6139075982362279],[0.2980757805436598,-0.5848978803877023]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[-0.1560724592114564,-0.6786452017370785,0.71338606911949],"aabb_xy":[[-0.1749568429799666,-0.6975311265174313],[-0.1371880754429462,-0.6597592769567258]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.4729925754819855,1.0837610883301334,0.71338606911949],"aabb_xy":[[0.4649492155560303,0.998761087234767],[0.48103593540794065,1.1687610894254998]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.5126950183847826,-2.3682956608644785,0.71338606911949],"aabb_xy":[[-0.5626779685722617,-2.4182956605070385],[-0.4627120681973031,-2.3182956612219177]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.5886814350086864,-2.10314546950924,0.71338606911949],"aabb_xy":[[-0.6047433624672041,-2.188145471321832],[-0.5726195075501688,-2.018145467696648]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.1504791880142795,1.3689039829511809,0.71338606911949],"aabb_xy":[[0.14502124237725944,1.2889039796435215],[0.15593713365129958,1.4489039862588398]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[-0.5616963985951948,-0.4279430759265548,0.71338606911949],"aabb_xy":[[-0.6256963958975412,-0.47230950289441154],[-0.4976964012928484,-0.38357664895869803]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.5065332268875549,1.5392399793098623,0.71338606911949],"aabb_xy":[[0.48403680545369077,1.5167399795031147],[0.529029648321419,1.5617399791166096]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.6654703813023586,-0.4961015756819549,0.71338606911949],"aabb_xy":[[0.6154703796408637,-0.5461000179376575],[0.7154703829638532,-0.44610313342625213]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.15964809028229054,0.023336231189605705,0.71338606911949],"aabb_xy":[[-0.18155677242164156,0.0014355643695149675],[-0.13773940814293947,0.04523689800969643]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[0.27634788665594934,-1.3831563053333888,0.71338606911949],"aabb_xy":[[0.21234788638197105,-1.4332224055306768],[0.3403478869299275,-1.3330902051361009]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[-0.6238415292276048,-0.6613236819745905,0.71338606911949],"aabb_xy":[[-0.6660259433884357,-0.7253236822518017],[-0.5816571150667742,-0.5973236816973793]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[-0.07976207926985779,0.6736418483188529,0.71338606911949],"aabb_xy":[[-0.10430829489260851,0.6433929517698157],[-0.05521586364710707,0.7038907448678898]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[-0.11154701233618691,-2.22144243067836,0.71338606911949],"aabb_xy":[[-0.13783583665662755,-2.2477138643330106],[-0.08525818801574624,-2.195170997023708]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[-0.23543302980799835,1.730065467094629,0.71338606911949],"aabb_xy":[[-0.24174512934433678,1.72429852784141],[-0.22912093027165992,1.7358324063478479]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.44366539145039097,0.2855533112937234,0.71338606911949],"aabb_xy":[[0.4257962836959355,0.2717204033165125],[0.46153449920484646,0.29938621927093434]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[-0.4796086547544477,1.6397578746952512,0.71338606911949],"aabb_xy":[[-0.5267380337562833,1.5757578736508489],[-0.4324792757526119,1.7037578757396528]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[0.5533461263907022,-1.9800145787851966,0.71338606911949],"aabb_xy":[[0.463346126667528,-2.003087931320376],[0.6433461261138763,-1.9569412262500168]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_26","position":[0.04444307436385708,-1.1241719325262065,0.71338606911949],"aabb_xy":[[0.03267488756919956,-1.2091719324314283],[0.05621126115851461,-1.0391719326209852]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[-0.24523225596089476,-2.058508161932547,0.71338606911949],"aabb_xy":[[-0.2837779487860958,-2.0970539329887354],[-0.20668656313569372,-2.019962390876358]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[0.4553654730802137,-1.4596655062919743,0.71338606911949],"aabb_xy":[[0.41786547258285545,-1.4636341898400929],[0.49286547357757193,-1.4556968227438558]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_29","position":[0.18649290635797133,1.2040880958876414,0.71338606911949],"aabb_xy":[[0.12149290525202805,1.179122722819513],[0.2514929074639146,1.2290534689557695]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6746751815359211,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5304.png","name":"5304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5304.png","name":"5304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1950.png","name":"1950"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8349.png","name":"8349"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7367.png","name":"7367"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9048.png","name":"9048"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":605.8720788173132,"rotation_z_degrees":223.58149325840793,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004903737506487343,-0.016219293890820264,0.015196576853580546]},{"name":"camera_2","offset_m":[0.014073734008725188,0.017140445061504427,-0.003358064761491548]},{"name":"camera_3","offset_m":[-0.0017320359368230738,-0.006069019279795293,0.008627166288108046]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004998350870269587,-0.0018104769653709463,-0.0018530990427273412],"end_effector_yaw_offset_degrees":0.1824773419267811},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017919934640814464,8.174135909437292e-05,-0.0017618367970384879],"end_effector_yaw_offset_degrees":-0.7950971165485794},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00198158529411409,-0.0007931834029061046,-0.0013188963008555544],"end_effector_yaw_offset_degrees":-0.0847369786358414}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001154217371492807,0.00015412190521495],"position_m":[0.31335421737149277,0.00805412190521495,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036378774943176635,0.004007796044437844],"position_m":[0.27903787749431763,-0.30439220395556216,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00014901780213859815,0.0018878465061563203],"position_m":[0.1659509821978614,0.3063878465061563,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004208784682538504,0.0014998305624756778],"position_m":[0.34820878468253846,0.16379983056247568,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8357f430b0f097ab3b18b859e56c04208711657ea5bef92425393f7f3d2c79df","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5304/tex_ceiling_textures_9048/tex_floor_textures_7367/tex_table_textures_1950/tex_wall_textures_8349","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":8998612488763979061,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":8998612488763979061,"visual_seed":8998612488763979061,"scene_id":"lab_003","finished_at":"2026-09-04T14:22:38"} +{"episode_id":"ep_000014","started_at":"2026-09-04T14:22:41","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.18001639468999775,-2.408234257707307,0.71338606911949],"aabb_xy":[[0.11501639653407869,-2.4345305022572186],[0.2450163928459168,-2.381938013157394]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.3394423595691427,0.32586757975294134,0.71338606911949],"aabb_xy":[[0.33480724441690923,0.3220002446757927],[0.34407747472137595,0.32973491483009]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.061510829258206945,-2.1448496631307936,0.71338606911949],"aabb_xy":[[0.05519872972186851,-2.1506166023840123],[0.06782292879454538,-2.139082723877575]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.297908463030505,-0.9965091563198836,0.71338606911949],"aabb_xy":[[-0.31113940856518624,-1.009736575341883],[-0.28467751749582365,-0.9832817372978842]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.1021606747003555,-2.0776299257501,0.71338606911949],"aabb_xy":[[-0.1380741791253452,-2.1135434339668544],[-0.06624717027536581,-2.041716417533345]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[0.29192011967412157,1.734800169861821,0.71338606911949],"aabb_xy":[[0.25629096377416183,1.6991675031049678],[0.3275492755740813,1.7704328366186737]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[-0.29612752790299635,0.408690907237665,0.71338606911949],"aabb_xy":[[-0.37612753116700953,0.39513087492875165],[-0.21612752463898327,0.42225093954657833]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.5898898267364295,-1.6316184531369766,0.71338606911949],"aabb_xy":[[-0.6399872907175032,-1.6956184536467886],[-0.5397923627553559,-1.567618452627165]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[0.35310097019005937,0.4492760839868919,0.71338606911949],"aabb_xy":[[0.30310169502162326,0.3992760827109447],[0.4031002453584956,0.49927608526283906]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.06600820037687183,-1.701209049500887,0.71338606911949],"aabb_xy":[[0.038163163596264704,-1.7319935482391986],[0.09385323715747895,-1.6704245507625752]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.5785605018805795,-0.9822002467405433,0.71338606911949],"aabb_xy":[[-0.6160605019861723,-0.9890224085935243],[-0.5410605017749864,-0.9753780848875621]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[-0.15549949097679516,-2.5188470475013176,0.71338606911949],"aabb_xy":[[-0.2054926030859871,-2.5688470481755132],[-0.1055063788676033,-2.468847046827122]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.642373888488927,1.5094774524764438,0.71338606911949],"aabb_xy":[[0.6306057016942695,1.4244774525712225],[0.6541420752835846,1.5944774523816658]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.14417170333919094,-1.242427946214287,0.71338606911949],"aabb_xy":[[0.13170434522945532,-1.2548932708476106],[0.15663906144892661,-1.2299626215809636]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.14976230542181002,-1.8222663806553911,0.71338606911949],"aabb_xy":[[-0.16726230568114664,-1.836357922844164],[-0.1322623051624734,-1.8081748384666188]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.44207543797043214,-0.5534586542238551,0.71338606911949],"aabb_xy":[[0.3970754365042034,-0.5984585110853359],[0.4870754394366611,-0.5084587973623745]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[0.4247560948993869,0.11200035469050817,0.71338606911949],"aabb_xy":[[0.40286634731044607,0.022000357401259062],[0.44664584248832767,0.2020003519797573]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[-0.23414534845433166,-1.6461214911852875,0.71338606911949],"aabb_xy":[[-0.2645434595534752,-1.6765283931869568],[-0.20374723735518804,-1.6157145891836178]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.14213850702661568,1.718022227687935,0.71338606911949],"aabb_xy":[[0.07813850991450999,1.6689898578935243],[0.20613850413872137,1.7670545974823455]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[0.38438087524455633,-1.394682575816866,0.71338606911949],"aabb_xy":[[0.37711962767414897,-1.4074695860803754],[0.3916421228149638,-1.3818955655533565]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[-0.5137701482168259,-2.0393263054969633,0.71338606911949],"aabb_xy":[[-0.5304472842099215,-2.0560262294708935],[-0.4970930122237305,-2.022626381523033]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[0.6725929009601175,-0.1224722683756152,0.71338606911949],"aabb_xy":[[0.6523085982367186,-0.14275489351832404],[0.6928772036835161,-0.10218964323290636]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[-0.25460060148162134,-1.3220304148357098,0.71338606911949],"aabb_xy":[[-0.25804127772167856,-1.3258918478100745],[-0.2511599252415642,-1.3181689818613456]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.3108898819774124,1.3933655105745024,0.71338606911949],"aabb_xy":[[-0.32977426574592267,1.3744795857941496],[-0.29200549820890226,1.4122514353548552]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[0.41173356836951513,-0.2268697644200075,0.71338606911949],"aabb_xy":[[0.4061518967353864,-0.23936976423778297],[0.4173152400036439,-0.21436976460223198]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[-0.49339664517729326,-0.7559521902472195,0.71338606911949],"aabb_xy":[[-0.5217263551258335,-0.7604129324409368],[-0.4650669352287531,-0.7514914480535027]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[0.6598516994155637,0.6452933775800056,0.71338606911949],"aabb_xy":[[0.6170849925361435,0.5812933741582031],[0.7026184062949838,0.709293381001808]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[0.4458224031954401,0.9513581041041621,0.71338606911949],"aabb_xy":[[0.40897185525845253,0.9138581032811284],[0.48267295113242775,0.9888581049271958]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_28","position":[0.19522211328342287,-1.3126365500721284,0.71338606911949],"aabb_xy":[[0.15772211261884414,-1.3283236080723504],[0.23272211394800155,-1.296949492071906]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.672859155857131,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1672.png","name":"1672"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1672.png","name":"1672"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7444.png","name":"7444"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/406.png","name":"406"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/170.png","name":"170"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7353.png","name":"7353"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":679.6933312579199,"rotation_z_degrees":132.546429915035,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005796744388707316,0.004343413532338608,0.014801633037961833]},{"name":"camera_2","offset_m":[0.012938810861456661,0.016215106422449995,0.017814166614926286]},{"name":"camera_3","offset_m":[-0.0013628356423610703,0.0057537009200435835,-0.007345412098254544]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015895177414354676,-0.00031849421631741635,0.00038146771818536353],"end_effector_yaw_offset_degrees":-0.46072925436989376},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009570553229096153,-0.0015353467447708042,-0.0007644466089991493],"end_effector_yaw_offset_degrees":-0.9792139763546215},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001574602621156572,0.0010367712972423936,0.0005487596965396959],"end_effector_yaw_offset_degrees":0.530971902587456}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002111763971871239,-0.004000295700658265],"position_m":[0.31008823602812874,0.003899704299341736,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015963093709951913,-0.0022171199457874336],"position_m":[0.2738036906290048,-0.31061711994578745,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003096455453439652,0.0011992665124161746],"position_m":[0.16579035445465604,0.3056992665124162,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004782865768332614,0.004303189557244797],"position_m":[0.34878286576833256,0.1666031895572448,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9188ee9f8a4a99a5ca8181cd554296757a034722d3965bf434d223610fca55e5","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1672/tex_ceiling_textures_7353/tex_floor_textures_170/tex_table_textures_7444/tex_wall_textures_406","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":700136507213493457,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":700136507213493457,"visual_seed":700136507213493457,"scene_id":"lab_003","finished_at":"2026-09-04T14:25:23"} +{"episode_id":"ep_000015","started_at":"2026-09-04T14:25:26","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.48432987928440974,1.6811021996415465,0.71338606911949],"aabb_xy":[[-0.512979211644826,1.6524566403644707],[-0.45568054692399346,1.7097477589186223]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.0023743265431551697,-0.8821367186856608,0.71338606911949],"aabb_xy":[[-0.028772592300427946,-0.9521367173724679],[0.033521245386738285,-0.8121367199988535]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[0.07890785513493315,1.521800092506569,0.71338606911949],"aabb_xy":[[0.045467679938913534,1.4883564666756384],[0.11234803033095274,1.5552437183374985]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.04456581002426929,-1.8416021594988572,0.71338606911949],"aabb_xy":[[-0.0985814063061693,-1.9056021623911144],[0.00944978625763071,-1.7776021566066]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.06782216325984336,-1.6801002261491682,0.71338606911949],"aabb_xy":[[-0.002177840131718622,-1.7154159998525986],[0.13782216665140531,-1.644784452445737]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.6235972362709112,-2.537159885432992,0.71338606911949],"aabb_xy":[[-0.6351662170178478,-2.5621598855499244],[-0.6120282555239747,-2.512159885316061]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.656219397431699,-1.1115284114989754,0.71338606911949],"aabb_xy":[[0.6101343061769675,-1.1755284087515305],[0.7023044886864305,-1.0475284142464203]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[0.4202928775157695,0.18544374963850796,0.71338606911949],"aabb_xy":[[0.4161570211830693,0.14794375019415099],[0.4244287338484697,0.222943749082865]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[0.5354159408131283,1.3771654522322865,0.71338606911949],"aabb_xy":[[0.4979159406412562,1.3444647168493793],[0.5729159409850001,1.4098661876151937]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[-0.07816386726005309,0.9497743489558679,0.71338606911949],"aabb_xy":[[-0.08306315956661657,0.922097429653299],[-0.07326457495348958,0.9774512682584365]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[-0.19414574147203334,-0.44659709828689875,0.71338606911949],"aabb_xy":[[-0.21914574102377182,-0.4567395821520335],[-0.16914574192029486,-0.43645461442176403]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.523011712934627,-1.7652714027347973,0.71338606911949],"aabb_xy":[[0.4880117137418085,-1.7762384487324594],[0.558011712127445,-1.7543043567371344]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[-0.05382594107587302,-1.4615002185871724,0.71338606911949],"aabb_xy":[[-0.11782593818797871,-1.510532588381583],[0.01017405603623267,-1.4124678487927618]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.5374443565596925,0.8512352830144958,0.71338606911949],"aabb_xy":[[0.47244435800261964,0.8214827496006131],[0.6024443551167653,0.8809878164283783]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.15075281508889582,-0.1997307211562518,0.71338606911949],"aabb_xy":[[-0.21475281536287405,-0.24979682135353976],[-0.08675281481491759,-0.14966462095896382]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.41127094649042617,-0.09534160860284269,0.71338606911949],"aabb_xy":[[-0.42212255273930177,-0.1062008993304937],[-0.40041934024155057,-0.08448231787519167]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[0.1752733795278395,-1.0711687289468035,0.71338606911949],"aabb_xy":[[0.09527337626999655,-1.1511652367387875],[0.25527338278568246,-0.9911722211548195]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[0.4009906560496739,0.5697496195134986,0.71338606911949],"aabb_xy":[[0.3510064203414966,0.519749620700003],[0.45097489175785105,0.6197496183269942]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.08772237737569422,0.956286818535165,0.71338606911949],"aabb_xy":[[0.02772237752912743,0.8994681963421262],[0.147722377222261,1.0131054407282036]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.3633999909690222,1.4682978987646114,0.71338606911949],"aabb_xy":[[0.35781831933489344,1.4557978989468356],[0.36898166260315096,1.4807978985823866]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.4287681986066574,-0.8972155253865399,0.71338606911949],"aabb_xy":[[0.42532752236660026,-0.9010769583609045],[0.4322088748467146,-0.8933540924121756]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[-0.6243504742136352,0.9538473301172723,0.71338606911949],"aabb_xy":[[-0.6743504758751299,0.9038488878615695],[-0.5743504725521403,1.0038457723729748]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[0.55788159472613,-0.9607561978975736,0.71338606911949],"aabb_xy":[[0.47788159606924396,-0.9752610568218365],[0.637881593383016,-0.9462513389733109]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.669452924033707,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4752.png","name":"4752"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4752.png","name":"4752"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1397.png","name":"1397"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5888.png","name":"5888"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/185.png","name":"185"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/609.png","name":"609"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":550.547932831858,"rotation_z_degrees":114.25622964642591,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009016775973156203,-0.011919668066989764,-0.010961889322999428]},{"name":"camera_2","offset_m":[-0.0021623215032881005,0.0016573349339809931,-0.009342995120240265]},{"name":"camera_3","offset_m":[-0.016183224272880076,0.013275677936228868,-0.008202179206737839]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006838363427798832,0.0012979299862343422,0.0010199084216026754],"end_effector_yaw_offset_degrees":0.5647501450334811},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00018270179559995675,-0.000863679848214575,2.984023994676054e-05],"end_effector_yaw_offset_degrees":-0.3332863826174106},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001705975095588896,0.00014959601118401953,-0.0016685094909483845],"end_effector_yaw_offset_degrees":0.45471971518361354}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034007829731362493,-0.00032055749332670323],"position_m":[0.30879921702686375,0.0075794425066732975,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028020328041927878,0.002869787659033761],"position_m":[0.2725979671958072,-0.3055302123409662,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007624186172092472,-0.004173460670639395],"position_m":[0.16533758138279075,0.3003265393293606,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002019615184920898,-0.000663238782914524],"position_m":[0.3419803848150791,0.16163676121708548,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4e3a417b1e8d5acb7335efd24d1f1e79d0daab6f0ace93b793f24c13a2f49377","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0015.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4752/tex_ceiling_textures_609/tex_floor_textures_185/tex_table_textures_1397/tex_wall_textures_5888","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":926863500878516261,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":926863500878516261,"visual_seed":926863500878516261,"scene_id":"lab_003","finished_at":"2026-09-04T14:28:06"} +{"episode_id":"ep_000016","started_at":"2026-09-04T14:28:10","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.3769661399264813,1.2207481100566486,0.71338606911949],"aabb_xy":[[-0.4269661385724025,1.1708285663971862],[-0.3269661412805601,1.270667653716111]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.16099244608483998,1.0001175658174715,0.71338606911949],"aabb_xy":[[-0.25099244841885904,0.9226352112323588],[-0.07099244375082092,1.0775999204025841]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[-0.5601745934534337,-0.34768383247090684,0.71338606911949],"aabb_xy":[[-0.6251745920105065,-0.37743636588478946],[-0.49517459489636084,-0.3179312990570242]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.6822617151508275,1.097261343368416,0.71338606911949],"aabb_xy":[[0.6619774124274286,1.0769787182257071],[0.7025460178742261,1.1175439685111248]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[-0.17987154278321482,0.7711256142611007,0.71338606911949],"aabb_xy":[[-0.19274344628415496,0.6911256138472646],[-0.16699963928227468,0.8511256146749369]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.532460940157205,1.606022315798914,0.71338606911949],"aabb_xy":[[-0.5587497644776456,1.5797508821442625],[-0.5061721158367642,1.632293749453565]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.08005807980592816,-1.1805030400148937,0.71338606911949],"aabb_xy":[[0.030058078445040933,-1.2304809445903093],[0.13005808116681536,-1.130525135439478]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.4469877962138715,0.2600650212974478,0.71338606911949],"aabb_xy":[[0.42940949402492473,0.2424905317233429],[0.46456609840281843,0.2776395108715527]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[-0.02712745980018516,-1.5177203824484502,0.71338606911949],"aabb_xy":[[-0.03246503546618973,-1.54272038337759],[-0.021789884134180596,-1.4927203815193104]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[0.6531744926180736,0.6244416956234691,0.71338606911949],"aabb_xy":[[0.5891744953324249,0.5829349766706251],[0.7171744899037222,0.665948414576313]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[-0.10441435625340312,1.306638819875726,0.71338606911949],"aabb_xy":[[-0.19441435275427485,1.2607271774572675],[-0.014414359752531357,1.352550462294184]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[0.40072358989096246,1.411348310269299,0.71338606911949],"aabb_xy":[[0.38309075429743483,1.3937253642536758],[0.41835642548449,1.4289712562849217]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.34627139247138294,-1.644688533500609,0.71338606911949],"aabb_xy":[[0.28227139055904066,-1.7005996827586194],[0.41027139438372534,-1.5887773842425985]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.21741839284734943,-0.6733835644966355,0.71338606911949],"aabb_xy":[[-0.2601850997267696,-0.737383567918438],[-0.17465168596792924,-0.609383561074833]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.5542606581388774,-2.398921183837847,0.71338606911949],"aabb_xy":[[-0.6342606603016399,-2.4788763674639904],[-0.4742606559761149,-2.318966000211703]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[0.4614166519961751,-1.060370953026505,0.71338606911949],"aabb_xy":[[0.45337329207021987,-1.1453709541218715],[0.4694600119221302,-0.9753709519311387]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.6399725667187957,0.19058818645490083,0.71338606911949],"aabb_xy":[[0.6319362320175107,0.18255006715048402],[0.6480089014200804,0.19862630575931758]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.052969828851927914,-1.1114124542632442,0.71338606911949],"aabb_xy":[[-0.08296149158579824,-1.1414124536000445],[-0.022978166118057586,-1.0814124549264434]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.6546980826608017,-1.003336328301554,0.71338606911949],"aabb_xy":[[-0.6624012733348786,-1.0110456990002918],[-0.6469948919867244,-0.9956269576028157]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[0.2865135327473375,1.471283416820198,0.71338606911949],"aabb_xy":[[0.26151353358170437,1.4643311711148415],[0.3115135319129706,1.4782356625255546]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[0.48087848910966025,-0.8081535314354806,0.71338606911949],"aabb_xy":[[0.40087849052234087,-0.8874691333736415],[0.5608784876969797,-0.7288379294973197]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.2946723843659448,-1.4337007778918163,0.71338606911949],"aabb_xy":[[0.28667839578824134,-1.4417008579869066],[0.3026663729436481,-1.425700697796726]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[-0.3712986453310467,1.6920982763230747,0.71338606911949],"aabb_xy":[[-0.4312986459270629,1.6372858037778515],[-0.31129864473503055,1.7469107488682984]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[0.6290166072438799,-1.4515409734073101,0.71338606911949],"aabb_xy":[[0.59401660897376,-1.458615101102298],[0.6640166055139998,-1.4444668457123218]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[0.4997751587153132,-1.7966961515827204,0.71338606911949],"aabb_xy":[[0.4357751566655812,-1.8367906346720284],[0.5637751607650452,-1.7566016684934125]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_25","position":[0.2316222332949398,-1.918706928121527,0.71338606911949],"aabb_xy":[[0.1676222368676179,-1.9658765519436237],[0.2956222297222617,-1.8715373042994308]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[0.299886086645639,-2.4746017218602265,0.71338606911949],"aabb_xy":[[0.2823860863863024,-2.4886932640489996],[0.31738608690497566,-2.4605101796714544]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[-0.6362724771377354,-2.162681584730341,0.71338606911949],"aabb_xy":[[-0.6587724773812509,-2.1748862193901135],[-0.6137724768942201,-2.1504769500705696]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_28","position":[-0.3331153699075894,0.649487396704512,0.71338606911949],"aabb_xy":[[-0.3576615855303401,0.6192385001554749],[-0.30856915428483866,0.679736293253549]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_29","position":[0.016052278292271627,-0.8479910438657163,0.71338606911949],"aabb_xy":[[-0.03893997234323932,-0.9029910456090292],[0.07104452892778258,-0.7929910421224037]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_30","position":[0.2987737094530485,0.9641086020461347,0.71338606911949],"aabb_xy":[[0.2487737077915537,0.9141101597904319],[0.3487737111145432,1.0141070443018372]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6683760845791992,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8400.png","name":"8400"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8400.png","name":"8400"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4883.png","name":"4883"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9266.png","name":"9266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8194.png","name":"8194"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8388.png","name":"8388"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":562.2510147265373,"rotation_z_degrees":98.39874557647381,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019307190005305192,0.019492684489730235,0.0071268727857436084]},{"name":"camera_2","offset_m":[-0.01709011381333008,0.002882038787886905,-0.006451662581504989]},{"name":"camera_3","offset_m":[-0.003788080167776528,-0.0027836331796484877,0.017575109157897364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013242650945159387,0.001031288524589545,-0.0018896495778067545],"end_effector_yaw_offset_degrees":-0.7790292819163771},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009410306632766376,0.0004149353485697052,-0.0007003127415264707],"end_effector_yaw_offset_degrees":-0.9037453024365929},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003608504954640706,0.0010643112421130163,-0.0013753449271386958],"end_effector_yaw_offset_degrees":-0.8674248384141285}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004768638792765953,0.0004078755508638886],"position_m":[0.31696863879276593,0.008307875550863889,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037264558374228932,0.0034270079392491127],"position_m":[0.2716735441625771,-0.3049729920607509,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00031044233530006307,0.0030764755962060944],"position_m":[0.16578955766469994,0.3075764755962061,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013020405331393226,-0.0028386246722883293],"position_m":[0.34269795946686066,0.15946137532771168,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"944ee2329a5de0c501f7b77cb90a0d1d17239cf0d359a6cea429640fd81f325f","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8400/tex_ceiling_textures_8388/tex_floor_textures_8194/tex_table_textures_4883/tex_wall_textures_9266","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":2684079666668503711,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":2684079666668503711,"visual_seed":2684079666668503711,"scene_id":"lab_003","finished_at":"2026-09-04T14:30:57"} +{"episode_id":"ep_000017","started_at":"2026-09-04T14:31:00","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[-0.3634348153142126,-1.9513338368034125,0.71338606911949],"aabb_xy":[[-0.42843481631471314,-2.0021202019580873],[-0.2984348143137121,-1.9005474716487376]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.15081536590972844,1.333602687840445,0.71338606911949],"aabb_xy":[[-0.18078292281955413,1.3036026875425593],[-0.1208478089999028,1.3636026881383307]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.38789894694568305,0.8922496306891334,0.71338606911949],"aabb_xy":[[0.33026847805841214,0.8322496317624226],[0.4455294158329538,0.9522496296158438]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.601673011063288,-2.4790547414997386,0.71338606911949],"aabb_xy":[[-0.6072546826974168,-2.4915547413175134],[-0.5960913394291592,-2.466554741681963]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[0.585109602815332,-1.5560745174474158,0.71338606911949],"aabb_xy":[[0.5802103105087684,-1.5837514367499843],[0.5900088951218954,-1.5283975981448468]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.14441903779254872,0.32547176662440647,0.71338606911949],"aabb_xy":[[-0.1483795215622831,0.3178039020388859],[-0.14045855402281435,0.3331396312099271]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.462931651385532,-0.5712006681256256,0.71338606911949],"aabb_xy":[[-0.4702139677621956,-0.6612006717351344],[-0.4556493350088683,-0.4812006645161165]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[-0.5967833881681104,-0.15191568576615966,0.71338606911949],"aabb_xy":[[-0.6767833892412307,-0.1616937321035441],[-0.51678338709499,-0.14213763942877522]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[-0.16565103048275864,-1.9637068368223718,0.71338606911949],"aabb_xy":[[-0.19087186734259828,-1.9889305876752583],[-0.14043019362291895,-1.9384830859694848]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.020870713318155154,-2.047685926032833,0.71338606911949],"aabb_xy":[[-0.04587071286989364,-2.057828409897968],[0.004129286233583333,-2.0375434421676983]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.17691396669327064,-1.4556968824082583,0.71338606911949],"aabb_xy":[[-0.2409139699119085,-1.5024199943072667],[-0.11291396347463278,-1.40897377050925]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.27233659295493196,-1.145152095296446,0.71338606911949],"aabb_xy":[[0.20733659507328417,-1.1962757590029869],[0.33733659083657974,-1.0940284315899051]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[-0.44222681857554874,-2.1341556176335104,0.71338606911949],"aabb_xy":[[-0.5322268150764204,-2.180067260051968],[-0.352226822074677,-2.0882439752150517]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.20079419555117034,0.6955396919688104,0.71338606911949],"aabb_xy":[[-0.2182941957962197,0.6780399041292434],[-0.18329419530612093,0.7130394798083771]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.08580542445276074,-1.9589490518472203,0.71338606911949],"aabb_xy":[[0.08210216312362184,-1.9626510701559379],[0.08950868578189958,-1.9552470335385024]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.6862216081983232,-0.3570230351428738,0.71338606911949],"aabb_xy":[[0.6685459776097248,-0.3747032514222765],[0.7038972387869215,-0.339342818863471]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_16","position":[-0.5930919157050748,-1.821307984296371,0.71338606911949],"aabb_xy":[[-0.6341098590914457,-1.8713079849273286],[-0.5520739723187039,-1.771307983665414]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[0.1475126282371979,-1.7220004276098995,0.71338606911949],"aabb_xy":[[0.06751262497935495,-1.8019969354018837],[0.22751263149504086,-1.6420039198179157]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[-0.047809385309083186,1.075014702519593,0.71338606911949],"aabb_xy":[[-0.0728093844747163,1.0680624568142365],[-0.02280938614345008,1.0819669482249497]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.5386794004960718,1.1817156548440138,0.71338606911949],"aabb_xy":[[-0.5986794010039246,1.1248689211580922],[-0.4786793999882188,1.2385623885299348]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.10812913426929227,-1.8179734018203502,0.71338606911949],"aabb_xy":[[-0.17212913631902427,-1.8580678849096581],[-0.04412913221956029,-1.7778789187310422]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[3.870176677223114e-05,0.7101929473328732,0.71338606911949],"aabb_xy":[[-0.008742525380463996,0.7014132000443433],[0.008819928914008459,0.7189726946214036]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[0.4400238589616918,0.31338044905103946,0.71338606911949],"aabb_xy":[[0.35002385528477364,0.251948042473935],[0.53002386263861,0.3748128556281437]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[0.5532454730000937,-1.8539308934535024,0.71338606911949],"aabb_xy":[[0.517331968575104,-1.8898444016702567],[0.5891589774250833,-1.8180173852367476]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[0.1063130629898551,0.6117285266935704,0.71338606911949],"aabb_xy":[[0.09546145674097947,0.6008692359659192],[0.11716466923873067,0.6225878174212213]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[0.15164446974420742,1.600849358936863,0.71338606911949],"aabb_xy":[[0.13136016702080863,1.580566733794154],[0.17192877246760616,1.6211319840795717]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_26","position":[-0.1823244366144835,1.1883630218694323,0.71338606911949],"aabb_xy":[[-0.23731668724999447,1.1333630201261196],[-0.12733218597897256,1.243363023612745]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_27","position":[0.6712141875342701,-0.783885192557457,0.71338606911949],"aabb_xy":[[0.6635899194440917,-0.7915184160940009],[0.6788384556244482,-0.7762519690209134]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_28","position":[0.5109061651980551,-0.8357806483245411,0.71338606911949],"aabb_xy":[[0.4771306060073621,-0.849819143537706],[0.5446817243887481,-0.821742153111376]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_29","position":[-0.18515623042505458,-0.9714883323026229,0.71338606911949],"aabb_xy":[[-0.24915622771070323,-1.012995051255467],[-0.12115623313940593,-0.929981613349779]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[-0.037477934397833645,0.46219711228209626,0.71338606911949],"aabb_xy":[[-0.05497793353220082,0.4523174852445084],[-0.019977935263466477,0.472076739319684]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_31","position":[-0.44260154777023397,1.555154018744068,0.71338606911949],"aabb_xy":[[-0.4801015489550268,1.5507357960480073],[-0.40510154658544123,1.5595722414401283]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_32","position":[-0.36672055925714253,-1.7437500697264388,0.71338606911949],"aabb_xy":[[-0.4216942812934754,-1.798750069290672],[-0.31174683722080965,-1.6887500701622056]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6690616925835308,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9475.png","name":"9475"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9475.png","name":"9475"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9580.png","name":"9580"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1608.png","name":"1608"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1700.png","name":"1700"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7139.png","name":"7139"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":646.4954561258526,"rotation_z_degrees":74.17610434831408,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016727162412291923,-0.001119206028719552,0.00012251801475633012]},{"name":"camera_2","offset_m":[-0.013017109834073032,0.00939442886908902,0.012216034349518654]},{"name":"camera_3","offset_m":[0.007054735708496133,-0.004775770377913156,0.013967068363851459]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008908966109395099,0.0005737515303050017,-0.0005583676322081157],"end_effector_yaw_offset_degrees":0.5223198487849867},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016988472637705409,0.0018123976961693495,0.0014755425332929452],"end_effector_yaw_offset_degrees":0.8846668776470348},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00138285822453701,0.0003367900454164024,0.0018902014196882097],"end_effector_yaw_offset_degrees":0.156813575220359}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004439814440713741,-0.0034360695434604857],"position_m":[0.30776018555928625,0.004463930456539515,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031871055921483737,0.0029762913458765946],"position_m":[0.2722128944078516,-0.30542370865412344,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00284575888996324,-0.0005116656823811582],"position_m":[0.16325424111003675,0.30398833431761885,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004656484818630325,0.002402786894364529],"position_m":[0.3486564848186303,0.16470278689436452,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"207eb7e7b98685d36093af33aa8f87cf5d7ca19722f38cacdd89c2274571ae98","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0017.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9475/tex_ceiling_textures_7139/tex_floor_textures_1700/tex_table_textures_9580/tex_wall_textures_1608","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":1546269765849947581,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":1546269765849947581,"visual_seed":1546269765849947581,"scene_id":"lab_003","finished_at":"2026-09-04T14:33:33"} +{"episode_id":"ep_000018","started_at":"2026-09-04T14:33:36","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.3592830321344591,0.6015716363616939,0.71338606911949],"aabb_xy":[[0.3091855681533855,0.5375716358518821],[0.40938049611553273,0.6655716368715057]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[-0.6087571923418466,-0.7908637096845279,0.71338606911949],"aabb_xy":[[-0.6687571921884133,-0.8476823318775666],[-0.5487571924952798,-0.7340450874914892]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[-0.1458328245773085,1.2825752042969296,0.71338606911949],"aabb_xy":[[-0.16362633151222494,1.264775458701132],[-0.12803931764239207,1.3003749498927273]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[-0.2428366580010306,-2.026434669696325,0.71338606911949],"aabb_xy":[[-0.2978298693381674,-2.081434670035119],[-0.1878434466638939,-1.971434669357532]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.19262627090713746,1.0791763480147347,0.71338606911949],"aabb_xy":[[-0.24259956491039789,1.0291763474601874],[-0.142652976903877,1.129176348569282]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.5211982122209868,1.1417573703932895,0.71338606911949],"aabb_xy":[[-0.5249014735501256,1.1380553520845715],[-0.5174949508918478,1.145459388702007]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[0.6140623597577874,-0.8681011739007052,0.71338606911949],"aabb_xy":[[0.5240623603394166,-0.9014766707448949],[0.7040623591761583,-0.8347256770565155]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[-0.42956532545372167,0.7967440007831521,0.71338606911949],"aabb_xy":[[-0.43760868537967684,0.7117439996877857],[-0.4215219655277665,0.8817440018785185]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.12538209850180182,-1.1982058690568926,0.71338606911949],"aabb_xy":[[0.03538209616778276,-1.2756882236420055],[0.21538210083582088,-1.1207235144717802]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.609772671768707,-2.100002377383473,0.71338606911949],"aabb_xy":[[-0.6597457373012225,-2.1500023771960057],[-0.5597996062361916,-2.05000237757094]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[-0.19597612932738306,-1.351974677922441,0.71338606911949],"aabb_xy":[[-0.27597612979759906,-1.3602853855367893],[-0.11597612885716715,-1.3436639703080928]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.5286671523769113,-2.392213583681772,0.71338606911949],"aabb_xy":[[0.4636671523426086,-2.4389142603620995],[0.593667152411214,-2.345512907001445]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[0.04602298442726238,1.4532228594316572,0.71338606911949],"aabb_xy":[[0.0313795788732294,1.438564139774873],[0.060666389981295366,1.4678815790884414]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[-0.23172594665642693,0.19040271347220017,0.71338606911949],"aabb_xy":[[-0.29572594806441754,0.13861376194827543],[-0.16772594524843626,0.24219166499612485]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.3859911287722988,-1.3093264057960157,0.71338606911949],"aabb_xy":[[0.37948949226429424,-1.3190942278223254],[0.39249276528030347,-1.299558583769706]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.3326203013632578,-2.1862358963946957,0.71338606911949],"aabb_xy":[[0.3217686951143822,-2.197095187122347],[0.3434719076121334,-2.1753766056670445]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[-0.38203976389903493,0.2967283478488465,0.71338606911949],"aabb_xy":[[-0.4065859795217857,0.2664794512998094],[-0.35749354827628427,0.3269772443978835]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.5839105466248697,-2.2582483878906263,0.71338606911949],"aabb_xy":[[-0.5902226461612081,-2.264015327143845],[-0.5775984470885314,-2.2524814486374076]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[-0.3324883724688713,-1.687427316573241,0.71338606911949],"aabb_xy":[[-0.34224436197804514,-1.697189850632475],[-0.32273238295969736,-1.677664782514006]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.666723941217588,-1.8905573676996108,0.71338606911949],"aabb_xy":[[0.6490483106289897,-1.9082375839790136],[0.6843995718061864,-1.872877151420208]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.49281605401190226,-0.5624970259581481,0.71338606911949],"aabb_xy":[[-0.5568160504392241,-0.6096666497802445],[-0.4288160575845803,-0.5153274021360517]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[0.268712366819571,-0.8313103178590928,0.71338606911949],"aabb_xy":[[0.21871236545868375,-0.8812882224345084],[0.31871236818045817,-0.7813324132836772]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[0.4275322665116794,-1.0420564456540489,0.71338606911949],"aabb_xy":[[0.41941861183830226,-1.0501622621080777],[0.43564592118505646,-1.0339506292000196]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.1297272747730729,-2.411379234631689,0.71338606911949],"aabb_xy":[[-0.19972727816463484,-2.4466950083351198],[-0.0597272713815109,-2.376063460928258]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_24","position":[0.46629089338757246,-0.09150294497466138,0.71338606911949],"aabb_xy":[[0.4575929310968572,-0.10362791928213612],[0.4749888556782878,-0.07937797066718666]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[0.5074317274757669,-0.5757553330296932,0.71338606911949],"aabb_xy":[[0.45795130626180813,-0.639755330942545],[0.5569121486897257,-0.5117553351168413]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674827657307829,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4583.png","name":"4583"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4583.png","name":"4583"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5392.png","name":"5392"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8362.png","name":"8362"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5000.png","name":"5000"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":573.0083430703494,"rotation_z_degrees":194.75861360085293,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010647193572782881,-0.019296158630534094,0.00035368643703135444]},{"name":"camera_2","offset_m":[-0.013666755795893373,0.01923917164403936,-0.019319868082255373]},{"name":"camera_3","offset_m":[-0.017767444863779187,0.016022019396963374,0.014356938436297605]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001181037071501619,0.0014496605295058955,-0.000692828898191674],"end_effector_yaw_offset_degrees":-0.564990649538772},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005156872700798343,-0.0015826156510185547,-0.0013770940446380076],"end_effector_yaw_offset_degrees":0.19711552972560265},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014944712511174062,-0.0015224489376708806,-0.001066125817881126],"end_effector_yaw_offset_degrees":0.6788986524584195}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0028123915138750476,0.0028960830933610843],"position_m":[0.30938760848612495,0.010796083093361084,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005054492170685435,-0.0024416835178033757],"position_m":[0.2759054492170685,-0.3108416835178034,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027349539013106104,0.0005517191257547668],"position_m":[0.16883495390131062,0.30505171912575474,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010442963620997088,0.001756045082340442],"position_m":[0.3429557036379003,0.16405604508234045,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4eae83e669a1be084e5b10c155a10bdf01bb3c63523b285c71cfe6215607e39b","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4583/tex_ceiling_textures_3034/tex_floor_textures_5000/tex_table_textures_5392/tex_wall_textures_8362","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":1724015445327236690,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":1724015445327236690,"visual_seed":1724015445327236690,"scene_id":"lab_003","finished_at":"2026-09-04T14:36:14"} +{"episode_id":"ep_000019","started_at":"2026-09-04T14:36:17","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[-0.5798124910924373,-0.9943435385332997,0.71338606911949],"aabb_xy":[[-0.634937696722028,-1.0543435399745866],[-0.5246872854628465,-0.9343435370920126]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.06890438636703655,-2.4804819423948548,0.71338606911949],"aabb_xy":[[-0.011095615063090647,-2.5599990974074642],[0.14890438779716375,-2.4009647873822453]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[-0.5933650838556752,-0.5528933290576372,0.71338606911949],"aabb_xy":[[-0.6733650808187144,-0.6299689707014107],[-0.513365086892636,-0.47581768741386377]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.2985257170832541,1.0860343448383394,0.71338606911949],"aabb_xy":[[-0.3103978000947552,1.0010343451446888],[-0.286653634071753,1.1710343445319895]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.4770935942523855,1.2121734809668951,0.71338606911949],"aabb_xy":[[0.4525799701553796,1.1879088876648587],[0.5016072183493914,1.2364380742689316]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[-0.5879398847374593,-0.7589755772191007,0.71338606911949],"aabb_xy":[[-0.6519398811330324,-0.8229388656378341],[-0.5239398883418862,-0.695012288800367]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.1696074383323557,-1.9994689701301782,0.71338606911949],"aabb_xy":[[0.12432882345120641,-2.063468969478362],[0.21488605321350493,-1.9354689707819945]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.09452106823305362,1.3015700900736338,0.71338606911949],"aabb_xy":[[0.08395358857495461,1.2910250599606252],[0.10508854789115263,1.3121151201866423]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[-0.6424875127475305,-2.0091187787065232,0.71338606911949],"aabb_xy":[[-0.6497312787937758,-2.0891187769101256],[-0.6352437467012851,-1.9291187805029208]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.33848948242132515,0.5792504878657203,0.71338606911949],"aabb_xy":[[0.28848948106043787,0.5292725832903046],[0.3884894837822123,0.6292283924411358]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.39993627858229586,1.1342811206004915,0.71338606911949],"aabb_xy":[[-0.42244997040575305,1.064281119999484],[-0.37742258675883866,1.204281121201499]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[-0.4573847018795406,-0.645978853121896,0.71338606911949],"aabb_xy":[[-0.46152055821224086,-0.683478852566253],[-0.4532488455468405,-0.608478853677539]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[0.4303048320391043,1.37955456144651,0.71338606911949],"aabb_xy":[[0.3808244108251455,1.315554563533658],[0.4797852532530631,1.4435545593593617]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[-0.16498564070326227,-2.3465427026967607,0.71338606911949],"aabb_xy":[[-0.21496859089074158,-2.396542702339321],[-0.11500269051578292,-2.2965427030542003]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[0.7053205778502329,1.1990947758436517,0.71338606911949],"aabb_xy":[[0.7018799016101757,1.1952333428692874],[0.70876125409029,1.2029562088180163]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.10593221281246212,0.3825832495528769,0.71338606911949],"aabb_xy":[[-0.11601391989103559,0.3025832516607623],[-0.09585050573388863,0.4625832474449916]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.1242452305687971,-1.7995204437055023,0.71338606911949],"aabb_xy":[[-0.14752707276692845,-1.8845204450027304],[-0.10096338837066576,-1.7145204424082743]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.19712347522163043,1.5642427401154735,0.71338606911949],"aabb_xy":[[0.11712965164307224,1.4842427375226317],[0.27711729880018865,1.6442427427083148]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[-0.6396197599151896,1.2472401867609828,0.71338606911949],"aabb_xy":[[-0.6896147708746417,1.197240187725391],[-0.5896247489557377,1.2972401857965745]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.5758644132118211,-0.8190389667346043,0.71338606911949],"aabb_xy":[[0.5506435763519814,-0.8442627175874908],[0.6010852500716607,-0.7938152158817173]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[-0.3284669326202525,-2.092414082093148,0.71338606911949],"aabb_xy":[[-0.39846693422253204,-2.105846875294806],[-0.2584669310179731,-2.078981288891491]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[-0.22101468457909607,1.213053522782006,0.71338606911949],"aabb_xy":[[-0.22971264686981138,1.2009285484745313],[-0.2123167222883808,1.2251784970894808]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[-0.5195976544498307,1.0388652979464155,0.71338606911949],"aabb_xy":[[-0.5387099618078096,1.0197305190691734],[-0.5004853470918519,1.0580000768236575]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[0.49810106052744296,1.5441748171016934,0.71338606911949],"aabb_xy":[[0.4735548449046923,1.5139259205526563],[0.5226472761501937,1.5744237136507304]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[-0.3035371637210851,-1.0877148856503718,0.71338606911949],"aabb_xy":[[-0.3248151718645574,-1.1527148879764448],[-0.2822591555776129,-1.0227148833242987]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[-0.32723451578536805,0.34779279918617423,0.71338606911949],"aabb_xy":[[-0.34969928575677317,0.32529279830731367],[-0.30476974581396293,0.3702928000650347]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_26","position":[0.6122899438359592,1.1183570177130355,0.71338606911949],"aabb_xy":[[0.5779736666613413,1.0683570177398578],[0.6466062210105772,1.1683570176862133]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_27","position":[0.13881650029720194,-0.8592753648749236,0.71338606911949],"aabb_xy":[[0.1294694927149067,-0.8735789870925678],[0.14816350787949717,-0.8449717426572797]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_28","position":[0.043766064426327134,1.1105540726548924,0.71338606911949],"aabb_xy":[[0.03577257463104511,1.102555940714417],[0.051759554221609175,1.1185522045953682]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_29","position":[-0.6301380703874778,0.3621579343290069,0.71338606911949],"aabb_xy":[[-0.6417070511344144,0.3371579342120752],[-0.6185690896405412,0.3871579344459386]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_30","position":[0.4037867434258082,-1.212338573023118,0.71338606911949],"aabb_xy":[[0.35879415670735776,-1.2573385722975667],[0.4487793301442586,-1.1673385737486692]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_31","position":[-0.1718814717653816,-0.844539723467439,0.71338606911949],"aabb_xy":[[-0.17980475200412993,-0.8670397237054425],[-0.16395819152663327,-0.8220397232294357]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_32","position":[0.4730995125926416,-0.06483408599309204,0.71338606911949],"aabb_xy":[[0.435599512775608,-0.0694722973042339],[0.5105995124096752,-0.06019587468195017]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_33","position":[0.3063229172535198,-2.241425213218558,0.71338606911949],"aabb_xy":[[0.25132291763177395,-2.2964089060060306],[0.36132291687526563,-2.186441520431085]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6793991431382943,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9424.png","name":"9424"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9424.png","name":"9424"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4496.png","name":"4496"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3169.png","name":"3169"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7863.png","name":"7863"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7647.png","name":"7647"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":528.3556439895019,"rotation_z_degrees":50.76302828253454,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004189957263619544,-0.016536328428458816,0.007241514928702418]},{"name":"camera_2","offset_m":[0.010154128699249396,-0.012237008720373895,-0.01623966503362738]},{"name":"camera_3","offset_m":[-0.005607623550341546,-0.007811929708798902,0.0016458364613063242]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013572292576747324,-0.0005387907803622131,-0.001064435995472231],"end_effector_yaw_offset_degrees":-0.508933114760246},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010436565983469497,0.001616860482821262,-0.0010994924921699997],"end_effector_yaw_offset_degrees":0.11837948260371967},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009396938151454044,-0.0015721575342203006,0.0016944510871912278],"end_effector_yaw_offset_degrees":-0.4956354284064093}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003352182068638565,0.0021126246357197906],"position_m":[0.31555218206863855,0.01001262463571979,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004549892506846527,-0.004572826810704803],"position_m":[0.2799498925068465,-0.3129728268107048,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001540096529766436,-0.003710418351262974],"position_m":[0.16455990347023355,0.30078958164873704,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[5.858326284896749e-06,-0.0018606255910714286],"position_m":[0.3440058583262849,0.16043937440892858,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c2d1b75797807addbbdd0374f9138375df5ea04383a5ff33787b269de414f51a","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9424/tex_ceiling_textures_7647/tex_floor_textures_7863/tex_table_textures_4496/tex_wall_textures_3169","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5476312165038851728,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5476312165038851728,"visual_seed":5476312165038851728,"scene_id":"lab_003","finished_at":"2026-09-04T14:38:56"} +{"episode_id":"ep_000020","started_at":"2026-09-04T14:39:00","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.42231804589100613,0.130880535014942,0.71338606911949],"aabb_xy":[[-0.4398963480799529,0.11330604544083711],[-0.40473974370205923,0.1484550245890469]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[-0.5107791464954724,0.8132160608828007,0.71338606911949],"aabb_xy":[[-0.548110423020715,0.7785630060879485],[-0.4734478699702298,0.847869115677653]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[-0.3920123389062987,-1.0165022701098887,0.71338606911949],"aabb_xy":[[-0.42315925774988183,-1.0865022687966959],[-0.3608654200627156,-0.9465022714230815]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[0.5039023181341098,-1.4592724642815664,0.71338606911949],"aabb_xy":[[0.453909206024918,-1.5092724649557623],[0.5538954302433018,-1.4092724636073708]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.5790209100416681,1.6727296166001273,0.71338606911949],"aabb_xy":[[-0.6136119928957132,1.607729616315096],[-0.5444298271876228,1.7377296168851581]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.5614135606760602,0.42507358984154964,0.71338606911949],"aabb_xy":[[0.49741355899806283,0.37655619836223536],[0.6254135623540575,0.4735909813208638]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.2612078010745106,-2.3011662912966098,0.71338606911949],"aabb_xy":[[0.2112078007139445,-2.3511462785062123],[0.3112078014350766,-2.2511863040870064]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.17748196791310566,-1.693495194640665,0.71338606911949],"aabb_xy":[[-0.21451607734116535,-1.727872401974374],[-0.14044785848504593,-1.6591179873069553]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[0.27439037092199137,1.4796997111516128,0.71338606911949],"aabb_xy":[[0.2572882929636232,1.462592905620343],[0.2914924488803595,1.4968065166828826]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.43724155328031,-1.789291690819559,0.71338606911949],"aabb_xy":[[0.4004469201554038,-1.8261975659161411],[0.47403618640521633,-1.7523858157229766]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.6156736552978852,-1.071485809205818,0.71338606911949],"aabb_xy":[[0.5822334801018654,-1.1049294350367478],[0.6491138304939046,-1.0380421833748876]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.2898154694287898,1.027312321273926,0.71338606911949],"aabb_xy":[[0.23981546847825697,0.9957631742704045],[0.3398154703793226,1.0588614682774473]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[-0.16582631947005788,-0.9900489782554811,0.71338606911949],"aabb_xy":[[-0.22982631589737976,-1.0372186020775778],[-0.10182632304273595,-0.9428793544333848]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[0.5689995129853882,0.6699891272842269,0.71338606911949],"aabb_xy":[[0.5140257909490553,0.6149891277199938],[0.6239732350217211,0.7249891268484602]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.46556748685290317,-0.5571944334282164,0.71338606911949],"aabb_xy":[[0.44056748768727,-0.564146679133573],[0.4905674860185362,-0.5502421877228598]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[-0.30710372836103433,-0.45087666748840327,0.71338606911949],"aabb_xy":[[-0.35209631507948475,-0.49587666676285197],[-0.2621111416425839,-0.40587666821395446]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[0.1831100304115011,-1.620009757018925,0.71338606911949],"aabb_xy":[[0.1661992979751593,-1.633481962611539],[0.20002076284784287,-1.6065375514263098]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.6040911543261471,-0.4320691867827722,0.71338606911949],"aabb_xy":[[-0.6415911546743748,-0.44386058236385567],[-0.5665911539779193,-0.42027779120168857]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[-0.39613888090204036,1.2037314636030652,0.71338606911949],"aabb_xy":[[-0.4116946503123056,1.1881810303586582],[-0.3805831114917751,1.2192818968474726]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.012041701942267391,-1.680413318304249,0.71338606911949],"aabb_xy":[[-0.052958296614805445,-1.7101658517181315],[0.07704170049934023,-1.6506607848903663]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.3877492664316135,-0.5641504037964968,0.71338606911949],"aabb_xy":[[-0.3957432550093169,-0.5721504838915871],[-0.3797552778539101,-0.5561503237014064]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[-0.1072275401863505,0.5747528022453681,0.71338606911949],"aabb_xy":[[-0.17222754118685102,0.5239664370906931],[-0.04222753918584998,0.625539167400043]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[-0.5455389129998122,0.16867457440972222,0.71338606911949],"aabb_xy":[[-0.553575247701097,0.16063645510530541],[-0.5375025782985273,0.17671269371413897]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[0.4676826207453717,1.450046991861925,0.71338606911949],"aabb_xy":[[0.4602701652039832,1.4441957814402968],[0.4750950762867601,1.4558982022835527]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[-0.2584940941807493,1.511477038821146,0.71338606911949],"aabb_xy":[[-0.2934940924508692,1.5044029111261576],[-0.2234940959106294,1.518551166516134]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[-0.18339240603512919,1.1551901974897882,0.71338606911949],"aabb_xy":[[-0.23839240521171864,1.1002005227148304],[-0.12839240685853967,1.2101798722647457]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[0.567690264324445,1.4739032942578434,0.71338606911949],"aabb_xy":[[0.5301902645074115,1.4692650829467016],[0.6051902641414786,1.4785415055689852]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_27","position":[-0.48886812744342356,-0.2723870306188587,0.71338606911949],"aabb_xy":[[-0.5035115329974564,-0.28704575027564294],[-0.4742247218893905,-0.2577283109620744]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[-0.26305955668770437,-2.2535658589654903,0.71338606911949],"aabb_xy":[[-0.32705955696168265,-2.303631959162778],[-0.1990595564137262,-2.203499758768202]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_29","position":[0.4159045475737151,1.5859495036338749,0.71338606911949],"aabb_xy":[[0.3459045454422855,1.5631875380081792],[0.4859045497051446,1.6087114692595705]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_30","position":[0.04034691235906063,-1.0805661203298464,0.71338606911949],"aabb_xy":[[-0.02965309027752573,-1.100670985325712],[0.11034691499564696,-1.060461255333981]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_31","position":[0.09467515551287398,-2.570465221324212,0.71338606911949],"aabb_xy":[[0.07950298623124064,-2.585634078252415],[0.10984732479450732,-2.5552963643960087]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_32","position":[0.6935648745311884,-2.3919048489095234,0.71338606911949],"aabb_xy":[[0.68725277499485,-2.397671788162742],[0.6998769740675268,-2.3861379096563047]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_33","position":[0.6103146506711536,-0.18308487970161114,0.71338606911949],"aabb_xy":[[0.5878182292372895,-0.20558487950835855],[0.6328110721050177,-0.16058487989486367]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6759315961094933,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8284.png","name":"8284"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8284.png","name":"8284"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/530.png","name":"530"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4310.png","name":"4310"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/519.png","name":"519"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3078.png","name":"3078"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":824.8066075822042,"rotation_z_degrees":201.7337482661572,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0013824859820515852,-0.01965070456006837,-0.016528916224391357]},{"name":"camera_2","offset_m":[-0.003634243046473088,-0.014485519945515005,0.015182405322941833]},{"name":"camera_3","offset_m":[-0.011721662373109471,-9.742715920118758e-05,-0.0008243267352575356]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012845040544726787,0.001402208281713978,-0.0018469232558906295],"end_effector_yaw_offset_degrees":0.5616318476759101},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014167345367369108,-0.00021021430017940587,-0.0009420480432138789],"end_effector_yaw_offset_degrees":-0.9065967087381472},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00039537864105417203,-0.0013000901933211831,0.0018360902682762743],"end_effector_yaw_offset_degrees":0.7318061696406302}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038953813030965945,-0.0010825406878292813],"position_m":[0.3083046186969034,0.0068174593121707195,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000960476908147336,-0.0039593782822965684],"position_m":[0.2763604769081473,-0.3123593782822966,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005754116043285981,0.004812815529116267],"position_m":[0.1655245883956714,0.30931281552911627,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012194905271555694,-0.004096335330743819],"position_m":[0.34521949052715556,0.15820366466925617,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2d935a58438e5f6dc62f256f757a2c09ec5c404731baa3a8e7362d1e22db5632","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8284/tex_ceiling_textures_3078/tex_floor_textures_519/tex_table_textures_530/tex_wall_textures_4310","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3064423316389646003,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3064423316389646003,"visual_seed":3064423316389646003,"scene_id":"lab_003","finished_at":"2026-09-04T14:41:38"} +{"episode_id":"ep_000021","started_at":"2026-09-04T14:41:41","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[0.20622504127484886,-0.7595674953904961,0.71338606911949],"aabb_xy":[[0.1584188736610802,-0.8245674980975549],[0.2540312088886175,-0.6945674926834371]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.09203843681711132,-0.9993963415066474,0.71338606911949],"aabb_xy":[[0.07648266740684607,-1.0149467747510545],[0.10759420622737662,-0.9838459082622403]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.05303092463987491,1.3840632868996585,0.71338606911949],"aabb_xy":[[-0.05848887027689497,1.304063283591999],[-0.047572979002854836,1.4640632902073172]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.40512012703262323,-1.3461974817057258,0.71338606911949],"aabb_xy":[[-0.4600938490689562,-1.401197481269959],[-0.3501464049962904,-1.2911974821414927]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[0.4265070266794553,-2.416333543219015,0.71338606911949],"aabb_xy":[[0.41363512317851514,-2.4963335436328506],[0.4393789301803954,-2.3363335428051784]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.23887159009675396,-1.2020652092835706,0.71338606911949],"aabb_xy":[[0.2197592827387751,-1.2211999881608124],[0.2579838974547328,-1.1829304304063284]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[-0.42901504011776526,-1.5811672016139955,0.71338606911949],"aabb_xy":[[-0.4990150417200448,-1.5945999948156533],[-0.35901503851548583,-1.5677344084123381]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.3785469700714309,0.857864744708198,0.71338606911949],"aabb_xy":[[-0.4010469700815792,0.8437685250685946],[-0.3560469700612826,0.8719609643478011]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[0.1341743979793355,1.3007823510534808,0.71338606911949],"aabb_xy":[[0.05417440096508752,1.2806477993800696],[0.21417439499358348,1.320916902726892]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.6116994165958944,-2.1060345769934807,0.71338606911949],"aabb_xy":[[0.5540689477086235,-2.166034575920191],[0.6693298854831652,-2.0460345780667697]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.5606792949501342,-1.9254945381801034,0.71338606911949],"aabb_xy":[[0.5272001276890934,-1.9589736515512108],[0.5941584622111753,-1.8920154248089969]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.41985932634880296,-2.3252823491813266,0.71338606911949],"aabb_xy":[[-0.4611638694125389,-2.3892823487494432],[-0.3785547832850669,-2.261282349613209]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[-0.23316977908566228,-1.092970643488495,0.71338606911949],"aabb_xy":[[-0.2971697776722347,-1.1399776068880036],[-0.16916978049908976,-1.0459636800889862]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.5554014383005494,-0.5993978421519128,0.71338606911949],"aabb_xy":[[0.5101228234194001,-0.6633978415000966],[0.6006800531816986,-0.5353978428037293]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.5364513870838753,0.5367368758811577,0.71338606911949],"aabb_xy":[[-0.5609650111808812,0.5124722825791211],[-0.5119377629868694,0.561001469183194]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[-0.3961687687348236,-2.0351301856616173,0.71338606911949],"aabb_xy":[[-0.4122306961933412,-2.1201301874742087],[-0.3801068412763059,-1.9501301838490253]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[-0.22306876902116907,1.7569511439909644,0.71338606911949],"aabb_xy":[[-0.2307719596952461,1.7492417732922259],[-0.21536557834709202,1.764660514689702]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[0.06514485768675937,0.8608530250997188,0.71338606911949],"aabb_xy":[[0.05703120301338227,0.8527472086456898],[0.07325851236013647,0.8689588415537479]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.5061352737278719,1.4219238957971636,0.71338606911949],"aabb_xy":[[0.4798464494074313,1.3956524621425122],[0.5324240980483126,1.4481953294518146]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.29951752712442326,0.9271234382628752,0.71338606911949],"aabb_xy":[[0.26201752593963035,0.9227052155668146],[0.33701752830921594,0.9315416609589356]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.40330874853026955,0.4723214188227254,0.71338606911949],"aabb_xy":[[0.34330874793425337,0.41750894627750185],[0.4633087491262857,0.5271338913679489]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.2313303856805174,-0.5861586046941243,0.71338606911949],"aabb_xy":[[-0.2669595415804772,-0.6217912714509772],[-0.19570122978055768,-0.5505259379372713]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[0.06649941777311286,-2.3721062178011016,0.71338606911949],"aabb_xy":[[0.04899941863874569,-2.3819858448386895],[0.08399941690748003,-2.362226590763514]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[-0.20247104549382489,-0.8907643096458326,0.71338606911949],"aabb_xy":[[-0.21176466373097547,-0.9282643081339665],[-0.1931774272566743,-0.8532643111576987]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6785680859125423,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2502.png","name":"2502"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2502.png","name":"2502"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1690.png","name":"1690"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7614.png","name":"7614"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2808.png","name":"2808"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9985.png","name":"9985"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":640.9300702895397,"rotation_z_degrees":317.69529270486925,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01905275192991878,-0.007839049180479245,-0.012892294469506172]},{"name":"camera_2","offset_m":[-0.0026493721332830206,0.010083392366853704,0.013051055072270838]},{"name":"camera_3","offset_m":[0.00661145529762245,-0.004410695302847198,-0.011077198420366172]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000429430440947131,-0.0016751886337883404,0.0009795120695311418],"end_effector_yaw_offset_degrees":-0.9254191220862837},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001499251944543762,0.0015102650424836943,0.00036557974874344094],"end_effector_yaw_offset_degrees":0.03811614943216424},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012296005588042793,0.0012035136083187559,-0.0010638125438757755],"end_effector_yaw_offset_degrees":0.8091068707641587}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00037314671677046805,7.443572262676255e-05],"position_m":[0.3118268532832295,0.007974435722626762,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003575098115548312,-0.004646514903139762],"position_m":[0.27897509811554827,-0.3130465149031398,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004164917004049668,-0.0045795221803490715],"position_m":[0.17026491700404967,0.2999204778196509,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002585756162490388,0.0021528869075049762],"position_m":[0.3465857561624904,0.16445288690750498,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6d714f390f529a712d04fe5721b68da4d1a69df8948db42b5ff916b438c60332","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2502/tex_ceiling_textures_9985/tex_floor_textures_2808/tex_table_textures_1690/tex_wall_textures_7614","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":8030885109527739685,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":8030885109527739685,"visual_seed":8030885109527739685,"scene_id":"lab_003","finished_at":"2026-09-04T14:44:19"} +{"episode_id":"ep_000022","started_at":"2026-09-04T14:44:21","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[0.01640406635652436,-0.7537761576265489,0.71338606911949],"aabb_xy":[[-0.04359593528639749,-0.805776306918493],[0.07640406799944621,-0.7017760083346046]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[-0.205781954636801,-0.9197302504216969,0.71338606911949],"aabb_xy":[[-0.2557593715020545,-0.9697302519109453],[-0.15580453777154737,-0.8697302489324482]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[-0.4456320546865867,-1.8045079982166268,0.71338606911949],"aabb_xy":[[-0.4831320562022184,-1.8157347712327718],[-0.40813205317095497,-1.7932812252004817]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[-0.6840031851148634,-2.183642186754427,0.71338606911949],"aabb_xy":[[-0.6912855014915268,-2.273642190363935],[-0.6767208687381995,-2.093642183144917]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[-0.38111339155589197,0.2360285667142792,0.71338606911949],"aabb_xy":[[-0.42891955916966057,0.1710285640072202],[-0.3333072239421233,0.3010285694213381]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[0.678045864163038,0.9663968037368154,0.71338606911949],"aabb_xy":[[0.6415500435357592,0.9299128613100577],[0.7145416847903167,1.002880746163573]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[0.4538921133153113,-2.017820697360749,0.71338606911949],"aabb_xy":[[0.4383363439050461,-2.0333711306051563],[0.46944788272557664,-2.002270264116342]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[-0.14217358418763704,-0.23852541728554533,0.71338606911949],"aabb_xy":[[-0.19214664972015252,-0.2885254170980782],[-0.09220051865512156,-0.18852541747301246]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[-0.18041197981136692,-0.5671540932476757,0.71338606911949],"aabb_xy":[[-0.21726252774835456,-0.6046540940707096],[-0.14356143187437934,-0.5296540924246421]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[-0.4245518977413942,-1.3494658837783362,0.71338606911949],"aabb_xy":[[-0.43742380124233426,-1.4294658841921721],[-0.411679994240454,-1.2694658833644998]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[0.22091509265882991,-1.9677307440102791,0.71338606911949],"aabb_xy":[[0.1904308425317998,-2.017730743791775],[0.25139934278586007,-1.9177307442287832]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.6248047617124723,-1.3935870418101153,0.71338606911949],"aabb_xy":[[-0.6719341407143078,-1.457587042854517],[-0.5776753827106365,-1.329587040765713]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[0.1713109979201286,-2.414236985439174,0.71338606911949],"aabb_xy":[[0.09131100095708941,-2.4913126270829475],[0.25131099488316777,-2.3371613437954006]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.5984315405393469,-1.6575720256226831,0.71338606911949],"aabb_xy":[[-0.6220166640032416,-1.722572027868115],[-0.5748464170754519,-1.5925720233772513]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[0.36226205149391966,0.7779053425296301,0.71338606911949],"aabb_xy":[[0.29826205121994137,0.7278392423323421],[0.42626205176789783,0.827971442726918]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.27129918213976273,-0.20440905494302086,0.71338606911949],"aabb_xy":[[-0.29018356590827293,-0.22329497972337362],[-0.2524147983712525,-0.18552313016266805]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[0.4589776844510596,-0.9522290771844795,0.71338606911949],"aabb_xy":[[0.3949776837475903,-0.9982474596574006],[0.5229776851545289,-0.9062106947115586]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.4308045414669046,-1.4419640238226172,0.71338606911949],"aabb_xy":[[0.39702898227621164,-1.4560025190357822],[0.4645801006575976,-1.4279255286094523]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[-0.4214007843565084,-0.36404928466089403,0.71338606911949],"aabb_xy":[[-0.5014007865192709,-0.4440044682870376],[-0.34140078219374587,-0.28409410103475036]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.5120971457938879,1.7934262336689994,0.71338606911949],"aabb_xy":[[-0.5495971443695086,1.7806899380054415],[-0.474597147218267,1.8061625293325574]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[-0.20839174940516353,-0.3770316485568248,0.71338606911949],"aabb_xy":[[-0.21235223317489788,-0.3846995131423454],[-0.20443126563542913,-0.3693637839713042]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.21076370584004805,-2.302024228781649,0.71338606911949],"aabb_xy":[[-0.26058048530488276,-2.3520242272659524],[-0.16094692637521327,-2.2520242302973457]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[-0.49717272471860946,0.6464815995538347,0.71338606911949],"aabb_xy":[[-0.5097995120058059,0.6369355258522618],[-0.48454593743141305,0.6560276732554076]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.43685973107510856,-1.6847047489604217,0.71338606911949],"aabb_xy":[[0.39409302419568837,-1.7487047523822241],[0.47962643795452875,-1.6207047455386192]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_24","position":[-0.6012358776816962,-0.24745603288083773,0.71338606911949],"aabb_xy":[[-0.6056665070365365,-0.25290440461552033],[-0.5968052483268561,-0.24200766114615513]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.4144842139314324,1.4234889607804653,0.71338606911949],"aabb_xy":[[0.3920194439600273,1.4009889599016045],[0.43694898390283754,1.4459889616593256]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_26","position":[0.1233753322227682,0.7651260941379152,0.71338606911949],"aabb_xy":[[0.053375330620488715,0.7516933009362576],[0.19337533382504768,0.7785588873395728]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[-0.5348181486565575,0.7841379818968526,0.71338606911949],"aabb_xy":[[-0.5848129815844991,0.734137983001609],[-0.4848233157286159,0.8341379807920961]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6785961341987015,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5075.png","name":"5075"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5075.png","name":"5075"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3696.png","name":"3696"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5430.png","name":"5430"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6573.png","name":"6573"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8073.png","name":"8073"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.2822975244267,"rotation_z_degrees":303.8081542502643,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009294544591653678,0.019971788483041774,-0.0026871336530678268]},{"name":"camera_2","offset_m":[0.01304057151130444,0.01741440490183208,0.011534637059614574]},{"name":"camera_3","offset_m":[-0.018444379830568586,-0.019251309619115475,-0.009305688664367425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-8.76531865970124e-05,0.0011484530909976441,0.0001367043321218158],"end_effector_yaw_offset_degrees":0.5259289482109759},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012051314845640056,0.00027689849395719267,-0.0016104813240061017],"end_effector_yaw_offset_degrees":-0.2904383051163206},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00028021243899338175,0.0014930553852518626,-0.0017966545239598206],"end_effector_yaw_offset_degrees":-0.9312983936165715}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019203598825644351,0.0027649752853596814],"position_m":[0.31027964011743553,0.010664975285359682,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004561052376039596,-0.0028042357804544506],"position_m":[0.2799610523760396,-0.3112042357804545,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010738545470759635,-0.0007706574194286629],"position_m":[0.16717385454707595,0.3037293425805713,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026094615249494637,0.0012591054724791651],"position_m":[0.3466094615249494,0.16355910547247918,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1b8fa53528bb7b9f98997caaec754066ecfa3efcd8f82bfc31e08229c88cd5c7","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0022.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5075/tex_ceiling_textures_8073/tex_floor_textures_6573/tex_table_textures_3696/tex_wall_textures_5430","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":922453673787213322,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":922453673787213322,"visual_seed":922453673787213322,"scene_id":"lab_003","finished_at":"2026-09-04T14:46:59"} +{"episode_id":"ep_000023","started_at":"2026-09-04T14:47:02","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[-0.49838497647699453,1.4782255950444028,0.71338606911949],"aabb_xy":[[-0.5329760593310396,1.4132255947593713],[-0.46379389362294926,1.5432255953294334]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.672647383587395,-0.5364914123428184,0.71338606911949],"aabb_xy":[[0.6632299090175321,-0.5459075894805374],[0.6820648581572576,-0.5270752352050994]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.40768579354904744,0.24428166684046726,0.71338606911949],"aabb_xy":[[0.39251362426741415,0.22911280991226393],[0.42285796283068083,0.2594505237686706]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[-0.5485291992055442,-2.121420316950314,0.71338606911949],"aabb_xy":[[-0.6135291970871921,-2.1725439806568554],[-0.48352920132389654,-2.0702966532437737]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[0.23937278755684588,-2.055987247261233,0.71338606911949],"aabb_xy":[[0.17537278614885524,-2.1077761987851575],[0.30337278896483655,-2.004198295737308]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[0.6534155827659665,0.7913638757515944,0.71338606911949],"aabb_xy":[[0.6309164470397395,0.7688638749733314],[0.6759147184921934,0.8138638765298574]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[0.45776892083583776,0.4789610656124559,0.71338606911949],"aabb_xy":[[0.4352689205923223,0.46675643095268393],[0.4802689210793531,0.49116570027222783]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.301868173183323,1.4097397873308157,0.71338606911949],"aabb_xy":[[-0.3518681748448177,1.3597413450751128],[-0.25186817152182817,1.4597382295865182]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.21294364544301514,-1.1915006700321542,0.71338606911949],"aabb_xy":[[-0.23422165358648736,-1.2565006723582273],[-0.19166563729954286,-1.1265006677060811]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[0.11011487894966132,-1.041107978512553,0.71338606911949],"aabb_xy":[[0.07448572304970158,-1.076740645269406],[0.14574403484962106,-1.0054753117557]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[0.29614684444870987,0.9621443922258779,0.71338606911949],"aabb_xy":[[0.27114684528307675,0.9551921465205214],[0.321146843614343,0.9690966379312346]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[-0.14561797300037493,0.8480118867821358,0.71338606911949],"aabb_xy":[[-0.1755855299102006,0.81801188648425],[-0.11565041609054927,0.8780118870800215]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.4992749278336852,-2.088733841652905,0.71338606911949],"aabb_xy":[[0.4912486572030593,-2.0974853366302577],[0.5073011984643113,-2.0799823466755525]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.36426875156824856,0.6663056425904479,0.71338606911949],"aabb_xy":[[0.35627526177296653,0.6583075106499723],[0.3722622413635306,0.6743037745309235]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.030189829551841907,-1.506205798585162,0.71338606911949],"aabb_xy":[[-0.007310168871558446,-1.5193700125529925],[0.06768982797524226,-1.493041584617331]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[-0.081150187611299,-2.430563519195743,0.71338606911949],"aabb_xy":[[-0.1122971064548821,-2.5005635178825503],[-0.05000326876771587,-2.360563520508936]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[-0.4199486519615488,-2.3177866140048025,0.71338606911949],"aabb_xy":[[-0.45744865245890703,-2.321755297552921],[-0.38244865146419055,-2.313817930456684]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[0.40661173159089614,-1.9023114806050696,0.71338606911949],"aabb_xy":[[0.38161173203915766,-1.912453964470204],[0.4316117311426346,-1.8921689967399347]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.13303600290684892,0.22977130117414557,0.71338606911949],"aabb_xy":[[-0.156872220547454,0.13977130036565913],[-0.10919978526624388,0.3197713019826321]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.39823112715461156,-2.4226489850245323,0.71338606911949],"aabb_xy":[[-0.4070331824635842,-2.430460311179461],[-0.3894290718456388,-2.4148376588696028]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.6162408561399599,-1.5421861618741357,0.71338606911949],"aabb_xy":[[0.561248605504449,-1.5971861636174487],[0.6712331067754709,-1.487186160130823]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.5011353951923702,0.48273523228206683,0.71338606911949],"aabb_xy":[[-0.5311270579262405,0.4527352329452663],[-0.47114373245849983,0.5127352316188674]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[0.5634808806826832,1.4085537003972637,0.71338606911949],"aabb_xy":[[0.5084854028620237,1.3535536989633565],[0.6184763585033425,1.4635537018311704]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[0.5803005330869908,-0.7567965886632899,0.71338606911949],"aabb_xy":[[0.5003005351062056,-0.7643981296251419],[0.6603005310677758,-0.749195047701438]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[0.5684137603472383,0.23926073362795908,0.71338606911949],"aabb_xy":[[0.5309137588316066,0.22803396061181405],[0.60591376186287,0.25048750664410413]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_25","position":[0.3536392033198801,-1.0240754965408818,0.71338606911949],"aabb_xy":[[0.3365371253615119,-1.0411823020721518],[0.37074128127824824,-1.0069686910096123]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_26","position":[0.3794083134896753,-0.5023616717034871,0.71338606911949],"aabb_xy":[[0.34255776555268774,-0.5398616725265208],[0.41625886142666296,-0.4648616708804534]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[-0.43452010728508633,1.2056992125502397,0.71338606911949],"aabb_xy":[[-0.45340449105359654,1.1868132877698867],[-0.4156357235165761,1.2245851373305923]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_28","position":[-0.024233520409692844,1.194027687904165,0.71338606911949],"aabb_xy":[[-0.041733453843676216,1.1765276879839301],[-0.006733586975709471,1.2115276878243992]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_29","position":[0.3982097265707356,-1.1409981704371834,0.71338606911949],"aabb_xy":[[0.3596640337455346,-1.1795439414933722],[0.43675541939593665,-1.1024523993809947]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6752546218684563,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6859.png","name":"6859"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6859.png","name":"6859"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2348.png","name":"2348"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6559.png","name":"6559"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3286.png","name":"3286"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2926.png","name":"2926"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":623.2491893174433,"rotation_z_degrees":81.03689488279805,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037776784460186036,-0.004033891453187,-0.012228883801995565]},{"name":"camera_2","offset_m":[0.0046908049212830115,0.008950363188610744,0.018624081399185703]},{"name":"camera_3","offset_m":[0.0015903022550236845,0.013502814884440672,0.014415293562537557]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019514361142834316,-0.0017527693073717656,-0.0006927879014380243],"end_effector_yaw_offset_degrees":-0.828723587045807},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00046753160353366985,0.0009730383849268619,-0.0009591486885198459],"end_effector_yaw_offset_degrees":0.6215193839146635},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010701108755277137,0.0017958548896544213,-0.00045584080724935926],"end_effector_yaw_offset_degrees":-0.0496798292011944}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004488236007619862,-0.0026945069254938458],"position_m":[0.31668823600761986,0.005205493074506155,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003707775315014137,0.0028633842747827773],"position_m":[0.27910777531501413,-0.30553661572521723,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005282955180857451,-0.0003132723425307016],"position_m":[0.16557170448191424,0.3041867276574693,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021370718501210854,-0.001777284442552247],"position_m":[0.34613707185012105,0.16052271555744776,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"053eebb9bf685fe4fe8561f32fe72efba75cc5697a612fe3819ca0d43c5863c4","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6859/tex_ceiling_textures_2926/tex_floor_textures_3286/tex_table_textures_2348/tex_wall_textures_6559","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":2380955508806437020,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":2380955508806437020,"visual_seed":2380955508806437020,"scene_id":"lab_003","finished_at":"2026-09-04T14:49:41"} +{"episode_id":"ep_000024","started_at":"2026-09-04T14:49:44","dimensions":{"distractor":{"count":34,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.34254528178162513,0.1495248551970767,0.71338606911949],"aabb_xy":[[-0.4275452804736997,0.11753899180219785],[-0.25754528308955044,0.18151071859195556]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[0.27781228653775714,1.1905059170645327,0.71338606911949],"aabb_xy":[[0.22799550707292238,1.140505918580229],[0.3276290660025919,1.2405059155488358]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.16912183636697076,-0.33971789776060524,0.71338606911949],"aabb_xy":[[-0.23312183958560861,-0.3864410096596136],[-0.1051218331483329,-0.2929947858615969]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[0.4476729420718899,1.544699442312345,0.71338606911949],"aabb_xy":[[0.4101729405562582,1.5334726692962],[0.4851729435875216,1.55592621532849]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.5459971843243172,-2.0858449862981714,0.71338606911949],"aabb_xy":[[0.5227153421261858,-2.1708449875953995],[0.5692790265224484,-2.0008449850009433]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[0.3677704680299241,-1.9410348721633712,0.71338606911949],"aabb_xy":[[0.34325684393291817,-1.965299465465408],[0.3922840921269299,-1.916770278861335]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.3019681274876112,-0.9820125396339698,0.71338606911949],"aabb_xy":[[-0.3659638248827078,-1.0460125379346783],[-0.23797243009251462,-0.918012541333261]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.6197995873814726,-2.3491678064147203,0.71338606911949],"aabb_xy":[[-0.6253812590156014,-2.3616678062324956],[-0.6142179157473437,-2.336667806596945]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.1313409288646824,-1.452561364733698,0.71338606911949],"aabb_xy":[[0.0813409272031876,-1.5025598069894004],[0.1813409305261771,-1.402562922477995]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.005339497361369849,1.487250904164044,0.71338606911949],"aabb_xy":[[-0.05533949772193591,1.437270916954441],[0.04466050299919621,1.537230891373647]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.12329727203159713,-0.9179758536636036,0.71338606911949],"aabb_xy":[[0.1192191141245474,-0.9220568339118668],[0.12737542993864687,-0.9138948734153401]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[0.685367577512813,-1.9100811855082873,0.71338606911949],"aabb_xy":[[0.674122521942195,-1.9213229832323824],[0.6966126330834307,-1.8988393877841918]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[-0.4498810659791157,-2.445233641708603,0.71338606911949],"aabb_xy":[[-0.48434341337725745,-2.479727524106425],[-0.41541871858097384,-2.4107397593107796]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.6228325246617581,1.2148280790293948,0.71338606911949],"aabb_xy":[[-0.6828325252577743,1.1600156064841713],[-0.5628325240657419,1.2696405515746183]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.39287334370151084,0.313844289934162,0.71338606911949],"aabb_xy":[[0.3578733423500291,0.29348455397734113],[0.42787334505299257,0.3342040258909828]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.5733225153470269,0.30402052453964856,0.71338606911949],"aabb_xy":[[0.5639050407771641,0.2946043474019295],[0.5827399899168896,0.31343670167736754]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.274619207236326,-2.1960419729865484,0.71338606911949],"aabb_xy":[[-0.2996192064019591,-2.202994218691905],[-0.24961920807069288,-2.1890897272811918]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[0.5568649628090232,-0.8725396922079132,0.71338606911949],"aabb_xy":[[0.54873727461571,-0.8814533006186209],[0.5649926510023364,-0.8636260837972056]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.5766565342230795,0.18877222388743897,0.71338606911949],"aabb_xy":[[-0.6136906436511391,0.15439501655372953],[-0.5396224247950197,0.22314943122114841]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[-0.10374022050109355,-1.992199312637423,0.71338606911949],"aabb_xy":[[-0.1737402238926555,-2.0275150863408533],[-0.03374021710953156,-1.9568835389339918]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.2906854633143938,1.0406564535906888,0.71338606911949],"aabb_xy":[[0.2106854622412735,1.0308784072533044],[0.37068546438751415,1.0504344999280733]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[-0.52307789535379,1.7189667673018714,0.71338606911949],"aabb_xy":[[-0.5433621980771887,1.6986841421591623],[-0.5027935926303911,1.73924939244458]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[-0.2843892001257696,-2.3895298166438117,0.71338606911949],"aabb_xy":[[-0.306889199649477,-2.4120257640944316],[-0.26188920060206217,-2.36703386919319]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.6242885838714138,-0.46756839967039676,0.71338606911949],"aabb_xy":[[-0.6393908853324317,-0.48266992130145847],[-0.6091862824103955,-0.45246687803933483]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.035577740768818256,-1.13286592978068,0.71338606911949],"aabb_xy":[[-0.05307767420280162,-1.1503659297009143],[-0.018077807334834876,-1.1153659298604452]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[0.5878266133296746,-1.3598856901070084,0.71338606911949],"aabb_xy":[[0.5717646858711567,-1.4448856919196],[0.603888540788192,-1.2748856882944164]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_26","position":[0.30925081274987276,0.9289805042385484,0.71338606911949],"aabb_xy":[[0.2966481136127963,0.916385108013683],[0.3218535118869492,0.941575900463414]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[0.6463121793735445,1.4089459014052697,0.71338606911949],"aabb_xy":[[0.5991828003717086,1.3449459003608675],[0.6934415583753799,1.4729459024496714]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[0.03287912925247338,-0.7394043975045241,0.71338606911949],"aabb_xy":[[-0.031120873090328172,-0.7843452487486566],[0.09687913159527495,-0.6944635462603916]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[-0.6044365016167764,-0.08349356751092563,0.71338606911949],"aabb_xy":[[-0.6594365012385223,-0.13847726029839835],[-0.5494365019950306,-0.028509874723452913]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_30","position":[-0.33092879485110166,-1.8913044244954849,0.71338606911949],"aabb_xy":[[-0.33488927862083606,-1.8989722890810055],[-0.32696831108136726,-1.8836365599099643]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_31","position":[0.680564628705234,-2.3241359254557703,0.71338606911949],"aabb_xy":[[0.6580509368817768,-2.394135926056778],[0.7030783205286912,-2.2541359248547628]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_32","position":[-0.15972917321217062,-1.294214419596929,0.71338606911949],"aabb_xy":[[-0.16468519339705182,-1.3167144197990506],[-0.15477315302728942,-1.2717144193948073]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_33","position":[-0.6026689290444893,-1.6600294642022762,0.71338606911949],"aabb_xy":[[-0.6376689273551847,-1.6677444791258216],[-0.5676689307337938,-1.6523144492787303]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6738312798278769,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5253.png","name":"5253"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5253.png","name":"5253"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9899.png","name":"9899"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6330.png","name":"6330"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3052.png","name":"3052"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8587.png","name":"8587"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":597.4634627095131,"rotation_z_degrees":144.24745037519168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008321815759908886,-0.010271952172476123,-0.005365497468086202]},{"name":"camera_2","offset_m":[0.005760666799236501,-0.015485544404966248,0.018491343287700347]},{"name":"camera_3","offset_m":[-0.015886835408287753,0.006927097040730551,0.009920916454425898]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008887509219092562,-0.0017403264148426393,-0.001102897144623392],"end_effector_yaw_offset_degrees":-0.11770687726634899},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013640441899143364,-0.00037532317536191693,-1.4207042319143003e-05],"end_effector_yaw_offset_degrees":-0.8781865799115505},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001540414619310692,-0.0012567273346541486,0.0011613515716280393],"end_effector_yaw_offset_degrees":0.7364967423958062}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031109989354600473,-0.004719809950758022],"position_m":[0.31531099893546005,0.003180190049241979,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018685400913323125,0.002386772476111033],"position_m":[0.2772685400913323,-0.306013227523889,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013695488387147148,-0.004742760877475183],"position_m":[0.1674695488387147,0.29975723912252483,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035692910876889165,-0.00029404651066521157],"position_m":[0.3475692910876889,0.16200595348933478,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ea06efa1dd533ea34b9933395603c7b5319ac17522240e9525ac959ba270708","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5253/tex_ceiling_textures_8587/tex_floor_textures_3052/tex_table_textures_9899/tex_wall_textures_6330","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":4640724943552721669,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":4640724943552721669,"visual_seed":4640724943552721669,"scene_id":"lab_003","finished_at":"2026-09-04T14:52:22"} +{"episode_id":"ep_000025","started_at":"2026-09-04T14:52:25","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.08166386497334455,0.10130155446317213,0.71338606911949],"aabb_xy":[[-0.08629898012557792,0.09743421938602347],[-0.07702874982111114,0.10516888954032076]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.43286636582614246,-0.13234995725358223,0.71338606911949],"aabb_xy":[[0.3978663644746607,-0.15270969321040304],[0.4678663671776242,-0.11199022129676138]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.09798298928976823,0.8072184758874998,0.71338606911949],"aabb_xy":[[0.09057053374837977,0.8013672654658719],[0.10539544483115672,0.8130696863091278]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[-0.2115096119885197,0.0774625304116916,0.71338606911949],"aabb_xy":[[-0.24150127472239002,0.047462531074891054],[-0.18151794925464937,0.10746252974849212]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.5605322258698038,-1.8153704890386688,0.71338606911949],"aabb_xy":[[0.523032225577629,-1.8194119644392723],[0.5980322261619786,-1.8113290136380653]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[0.17919648571955393,-1.1042546757752645,0.71338606911949],"aabb_xy":[[0.12919648627935829,-1.1542226002595806],[0.22919648515974952,-1.054286751290948]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[-0.27698804132651816,-1.3948404298446004,0.71338606911949],"aabb_xy":[[-0.2936651773196136,-1.4115403538185307],[-0.2603109053334226,-1.3781405058706702]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[-0.30874432850551525,-0.056010595103611394,0.71338606911949],"aabb_xy":[[-0.3127048122752496,-0.063678459689132],[-0.3047838447357809,-0.04834273051809079]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[0.6412312897556871,-0.5415019710917992,0.71338606911949],"aabb_xy":[[0.6187312895121717,-0.5537066057515712],[0.6637312899992025,-0.5292973364320273]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.5441835021097094,0.13347559935596687,0.71338606911949],"aabb_xy":[[-0.604183502970522,0.08204916934948044],[-0.4841835012488965,0.1849020293624532]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.37587072733114896,0.8555714134092005,0.71338606911949],"aabb_xy":[[-0.4308707269528948,0.8005877206217278],[-0.3208707277094031,0.9105551061966732]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.06019978199477338,-1.350405644557461,0.71338606911949],"aabb_xy":[[-0.06790297266885043,-1.3581150152561992],[-0.05249659132069633,-1.342696273858723]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.13601184007439115,1.2667932026010953,0.71338606911949],"aabb_xy":[[0.11351183956235053,1.2443013442356967],[0.15851184058643172,1.2892850609664934]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[0.5829522214209364,0.08070914383778982,0.71338606911949],"aabb_xy":[[0.5329573884929948,0.030709144942546285],[0.632947054348878,0.13070914273303336]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.6491574855055895,-1.5888144254299705,0.71338606911949],"aabb_xy":[[-0.6836199635186772,-1.5954781026128932],[-0.6146950074925016,-1.5821507482470478]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.2267762322353205,-1.0226144774161323,0.71338606911949],"aabb_xy":[[-0.24928992405877767,-1.0926144780171398],[-0.20426254041186329,-0.9526144768151248]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[0.4998468767737003,-2.404886199632665,0.71338606911949],"aabb_xy":[[0.4198468781168143,-2.419391058556928],[0.5798468754305863,-2.390381340708402]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.11417965892634085,-0.7297937745447887,0.71338606911949],"aabb_xy":[[-0.20417965542721261,-0.7757054169632468],[-0.024179662425469105,-0.6838821321263303]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.4021929020379139,-0.7084625097873336,0.71338606911949],"aabb_xy":[[-0.4396929021435068,-0.7152846716403146],[-0.3646929019323209,-0.7016403479343524]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[0.6110101344936403,0.5476309202137402,0.71338606911949],"aabb_xy":[[0.5775309672325993,0.5141518068426332],[0.6444893017546812,0.5811100335848471]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[-0.19842798680460572,1.2827640205893776,0.71338606911949],"aabb_xy":[[-0.2101961735992633,1.1977640206841562],[-0.18665980000994822,1.3677640204945993]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.5827071755727751,-2.0469006006753947,0.71338606911949],"aabb_xy":[[0.570835092561274,-2.131900600369045],[0.5945792585842762,-1.9619006009817443]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[-0.4441586639162192,1.5001236465966863,0.71338606911949],"aabb_xy":[[-0.4991518752533559,1.4451236462578925],[-0.3891654525790824,1.5551236469354799]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[-0.5388460149272969,-0.31097733272292327,0.71338606911949],"aabb_xy":[[-0.561310784898702,-0.33347733360178383],[-0.5163812449558918,-0.2884773318440628]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_24","position":[0.38156959297723114,1.237645655853835,0.71338606911949],"aabb_xy":[[0.3264443873476403,1.1776456544125475],[0.43669479860682187,1.2976456572951218]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[-0.4488437532147394,-2.1327511010705456,0.71338606911949],"aabb_xy":[[-0.45683724301002154,-2.1407492330110216],[-0.4408502634194575,-2.1247529691300704]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[0.6480627980550187,1.6982315721935426,0.71338606911949],"aabb_xy":[[0.5840627947653104,1.654896653189625],[0.7120628013447267,1.7415664911974602]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_27","position":[-0.5808246376977957,0.400104546225009,0.71338606911949],"aabb_xy":[[-0.6384551065850664,0.34010454729829837],[-0.5231941688105247,0.4601045451517195]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_28","position":[-0.29699095733636194,1.030027975539058,0.71338606911949],"aabb_xy":[[-0.3569909575877631,0.9757466505025931],[-0.23699095708496076,1.0843093005755224]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[-0.41723043487817507,-2.4753826871443594,0.71338606911949],"aabb_xy":[[-0.44051227707630647,-2.5603826884415875],[-0.3939485926800438,-2.3903826858471313]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_30","position":[0.2180827636039745,-1.3390121428185269,0.71338606911949],"aabb_xy":[[0.1681053467387209,-1.3890121443077752],[0.2680601804692281,-1.289012141329278]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_31","position":[0.5342294914079881,1.0705929093103919,0.71338606911949],"aabb_xy":[[0.5190573221263548,1.0554240523821885],[0.5494016606896215,1.0857617662385952]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_32","position":[-0.5928446331449084,-0.7578456966936957,0.71338606911949],"aabb_xy":[[-0.6037504092324711,-0.837845693092525],[-0.5819388570573457,-0.6778457002948667]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6706945832349583,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8624.png","name":"8624"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8624.png","name":"8624"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3334.png","name":"3334"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2566.png","name":"2566"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5333.png","name":"5333"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/279.png","name":"279"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":673.3217876436948,"rotation_z_degrees":239.45167926740663,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019516400019458428,0.012618569528526805,0.014917750825032671]},{"name":"camera_2","offset_m":[-0.0013804445601642082,-0.018493310642388603,0.0007896602369928847]},{"name":"camera_3","offset_m":[0.0026781329090366443,-0.01910688307394476,0.011690110524350966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009906301947548075,0.0005784747338903754,0.001354799167708508],"end_effector_yaw_offset_degrees":0.21038567628492166},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000882584730709862,0.00012466348291972863,-0.0011139184884379856],"end_effector_yaw_offset_degrees":-0.6750130263155356},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005728904873221854,0.001727717373998593,-0.0011937481714204],"end_effector_yaw_offset_degrees":-0.7731316001950137}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004832850153024159,-0.0019349582474556038],"position_m":[0.30736714984697583,0.005965041752544397,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032038757959265965,-0.0006165476456219208],"position_m":[0.2721961242040734,-0.3090165476456219,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038343494563792034,0.0039040851186437587],"position_m":[0.1699343494563792,0.30840408511864376,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032738068291868995,-0.0016576746754591643],"position_m":[0.34727380682918685,0.16064232532454084,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"28cbad47d7ab918dd822d4725d280ce96d9d80c6af00cefeb9d4f6043ec6a53a","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0025.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8624/tex_ceiling_textures_279/tex_floor_textures_5333/tex_table_textures_3334/tex_wall_textures_2566","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":909458407617117341,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":909458407617117341,"visual_seed":909458407617117341,"scene_id":"lab_003","finished_at":"2026-09-04T14:55:01"} +{"episode_id":"ep_000026","started_at":"2026-09-04T14:55:03","dimensions":{"distractor":{"count":30,"items":[{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_0","position":[-0.0165135080687161,-1.4927897088472726,0.71338606911949],"aabb_xy":[[-0.03257543552723374,-1.5777897106598644],[-0.0004515806101984577,-1.4077897070346808]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.05632085110424778,-0.689024111896805,0.71338606911949],"aabb_xy":[[-0.07418995885870328,-0.7028570198740158],[-0.03845174334979228,-0.675191203919594]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.3016402558455416,1.2249817840542763,0.71338606911949],"aabb_xy":[[-0.3716402584821279,1.2048769190584105],[-0.2316402532089552,1.2450866490501415]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.4444395455651846,-2.4768622166370737,0.71338606911949],"aabb_xy":[[0.380443848170088,-2.540862214937782],[0.5084352429602812,-2.4128622183363646]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.594188631301771,-1.9545341171855473,0.71338606911949],"aabb_xy":[[0.5766886978677876,-1.9720341171057816],[0.6116885647357544,-1.9370341172653125]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.6444378629716705,0.22950570993316743,0.71338606911949],"aabb_xy":[[0.6069378631546368,0.22486749862202554],[0.6819378627887039,0.23414392124430927]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[0.12704241584990184,1.1958469842029942,0.71338606911949],"aabb_xy":[[0.04704241888686267,1.1187713425592207],[0.207042412812941,1.2729226258467676]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[0.6487508007456828,0.6121971754591553,0.71338606911949],"aabb_xy":[[0.624204585122932,0.5819482789101182],[0.6732970163684334,0.6424460720081924]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.3688669150310966,-1.7550647170120066,0.71338606911949],"aabb_xy":[[-0.40988485841746747,-1.8050647176429637],[-0.3278489716447257,-1.705064716381049]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.6568477546660605,-2.4036353796112975,0.71338606911949],"aabb_xy":[[-0.6664793908864901,-2.4132726923910064],[-0.6472161184456309,-2.3939980668315886]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[-0.07737128958221617,-2.3561392107848835,0.71338606911949],"aabb_xy":[[-0.16737129191623523,-2.433621565369996],[0.012628712751802884,-2.278656856199771]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[-0.6512695287203077,1.4858838623177628,0.71338606911949],"aabb_xy":[[-0.6566071043863124,1.460883861388623],[-0.6459319530543033,1.5108838632469026]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.37480533310620506,0.47876477959194386,0.71338606911949],"aabb_xy":[[-0.39469637298654536,0.4661089683072471],[-0.3549142932258648,0.49142059087664075]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.5870840801279709,-1.7809819155805735,0.71338606911949],"aabb_xy":[[0.5220840819720518,-1.8072781601304857],[0.6520840782838899,-1.7546856710306613]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.3177511156427282,1.6583628905828554,0.71338606911949],"aabb_xy":[[0.2677780501102127,1.608362890770323],[0.36772418117524364,1.7083628903953887]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[-0.3261141459559719,-0.5629943420887153,0.71338606911949],"aabb_xy":[[-0.34361414620102126,-0.5804941299282821],[-0.3086141457109225,-0.5454945542491484]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.28013747117603766,-2.429920348638689,0.71338606911949],"aabb_xy":[[-0.3136166384370786,-2.463399462009796],[-0.2466583039149967,-2.396441235267582]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.6066811578415958,1.5335395571559238,0.71338606911949],"aabb_xy":[[0.5993988414649319,1.4435395535464144],[0.6139634742182593,1.6235395607654324]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[-0.5402846649050312,-1.3793554090177425,0.71338606911949],"aabb_xy":[[-0.551057638826399,-1.4143554072367814],[-0.5295116909836635,-1.3443554107987035]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[-0.5166055008772913,-1.1548701071957945,0.71338606911949],"aabb_xy":[[-0.5806055015807606,-1.2008884896687155],[-0.45260550017382195,-1.1088517247228735]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[-0.1839611418554491,-0.3239409343195345,0.71338606911949],"aabb_xy":[[-0.2479611422329827,-0.3736862011703468],[-0.11996114147791548,-0.27419566746872226]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[0.25513302853748454,-1.5398514321106689,0.71338606911949],"aabb_xy":[[0.20503556455641092,-1.6038514326204807],[0.30523049251855816,-1.475851431600857]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[0.6498882747042218,-1.6221135169558156,0.71338606911949],"aabb_xy":[[0.5858882775921161,-1.6711458867502262],[0.7138882718163275,-1.573081147161405]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[-0.42524616948739813,-2.4059137898086522,0.71338606911949],"aabb_xy":[[-0.4315582690237365,-2.411680729061871],[-0.41893406995105964,-2.4001468505554335]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_24","position":[0.21127351043475107,-1.1165635320872105,0.71338606911949],"aabb_xy":[[0.1472735140074292,-1.1637331559093071],[0.27527350686207297,-1.0693939082651143]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_25","position":[0.5824192720139325,0.4786029026883467,0.71338606911949],"aabb_xy":[[0.5247888031266615,0.41860290376163606],[0.6400497409012033,0.5386029016150573]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[-0.537501889491295,1.4957310621767284,0.71338606911949],"aabb_xy":[[-0.5416178396033675,1.4916155071438826],[-0.5333859393792222,1.4998466172095737]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_27","position":[0.6289021768281307,-0.22305110192577526,0.71338606911949],"aabb_xy":[[0.6249883036327081,-0.23180011733233202],[0.632816050023553,-0.2143020865192185]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[-0.29383189766881634,0.9709039902092531,0.71338606911949],"aabb_xy":[[-0.3281481748434342,0.9209039902360753],[-0.25951562049419835,1.0209039901824308]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_29","position":[-0.5541098049149048,1.4223942039952777,0.71338606911949],"aabb_xy":[[-0.5594423195695177,1.417069875750042],[-0.5487772902602919,1.427718532240513]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6688188632064455,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5063.png","name":"5063"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5063.png","name":"5063"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2789.png","name":"2789"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6896.png","name":"6896"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7448.png","name":"7448"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/63.png","name":"63"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":821.3098838227068,"rotation_z_degrees":281.25571845706634,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010209402418179643,0.005978929188014986,0.007921594870669388]},{"name":"camera_2","offset_m":[-0.0057545013181149116,-0.005768264771071046,0.010949009734700671]},{"name":"camera_3","offset_m":[-0.014588181953951911,-0.011813768205176003,-0.019486673228498883]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009345123359515198,0.00037876660314917774,0.0006546487376009164],"end_effector_yaw_offset_degrees":-0.8654037449307392},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001958195568919664,0.00032071622401470693,0.00036823861755062425],"end_effector_yaw_offset_degrees":0.981011249344494},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.655838578527169e-05,0.001648824799005149,-0.0008212952191826734],"end_effector_yaw_offset_degrees":-0.00037638210351964574}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001607855162289622,-0.0007856272875372168],"position_m":[0.3138078551622896,0.007114372712462784,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004317693626834519,0.0013112705228358994],"position_m":[0.27108230637316544,-0.3070887294771641,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003931419690022361,0.0010497903099076786],"position_m":[0.16216858030997763,0.3055497903099077,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001865692174790746,-0.002665241442331614],"position_m":[0.3421343078252092,0.1596347585576684,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7e41d675615c980defa88084e82803138fa88304bb87c5a6f3918278ab04bf57","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5063/tex_ceiling_textures_63/tex_floor_textures_7448/tex_table_textures_2789/tex_wall_textures_6896","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6565563558295184550,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6565563558295184550,"visual_seed":6565563558295184550,"scene_id":"lab_003","finished_at":"2026-09-04T14:57:38"} +{"episode_id":"ep_000027","started_at":"2026-09-04T14:57:41","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.34832629205762555,-1.5363945395510117,0.71338606911949],"aabb_xy":[[-0.3524044499646753,-1.540475519799275],[-0.3442481341505758,-1.5323135593027484]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.692133879740769,0.6342885935572213,0.71338606911949],"aabb_xy":[[0.6820521726621954,0.5542885956651066],[0.7022155868193424,0.7142885914493359]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[0.2820315817622041,-1.1023637731291276,0.71338606911949],"aabb_xy":[[0.2020315843586107,-1.1823563443273102],[0.36203157916579753,-1.0223712019309446]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.283912599765705,0.8000156705031838,0.71338606911949],"aabb_xy":[[-0.2892501754317096,0.775015669574044],[-0.2785750240997005,0.8250156714323236]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[0.6251593146431764,-0.8607193869887797,0.71338606911949],"aabb_xy":[[0.5751600394747403,-0.9107193882647269],[0.6751585898116126,-0.8107193857128325]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.3324771890784884,0.553002182536726,0.71338606911949],"aabb_xy":[[-0.39247718967450457,0.49818970999150236],[-0.2724771884824722,0.6078146550819493]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[0.3453065188244162,-2.158221715896655,0.71338606911949],"aabb_xy":[[0.2653065183542003,-2.1665324235110037],[0.42530651929463226,-2.149911008282307]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.10364096357457808,-0.7764212626431939,0.71338606911949],"aabb_xy":[[0.023640965593793025,-0.784022803605046],[0.1836409615553631,-0.768819721681342]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[0.31791095941786485,-2.281189046636397,0.71338606911949],"aabb_xy":[[0.2539109577398675,-2.329706438115711],[0.3819109610958622,-2.2326716551570827]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[-0.0449004737833284,-2.1716239043343957,0.71338606911949],"aabb_xy":[[-0.08081397820831808,-2.20753741255115],[-0.008986969358338717,-2.1357103961176405]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.4543787820201578,0.5782582949557127,0.71338606911949],"aabb_xy":[[-0.4718787822652072,0.5607585071161457],[-0.4368787817751084,0.5957580827952794]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.6044080727469474,-0.6424227385443853,0.71338606911949],"aabb_xy":[[0.5825183251580066,-0.7324227358336344],[0.6262978203358882,-0.5524227412551361]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[-0.4432700026771291,0.9383081670828757,0.71338606911949],"aabb_xy":[[-0.45463173733041523,0.9269397006765874],[-0.4319082680238429,0.9496766334891635]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.6474966690325505,1.3036577678867767,0.71338606911949],"aabb_xy":[[-0.665365776787006,1.2898248599095656],[-0.629627561278095,1.3174906758639877]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.19320435311125717,-1.9269509666143414,0.71338606911949],"aabb_xy":[[-0.2582043512671762,-1.9532472111642536],[-0.1282043549553381,-1.9006547220644292]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.057155294745227625,-1.352534341204933,0.71338606911949],"aabb_xy":[[-0.1171552949966288,-1.4068156662413975],[0.0028447055061735574,-1.2982530161684682]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[-0.02793269168063295,1.427519343235851,0.71338606911949],"aabb_xy":[[-0.03850017133873196,1.4169743131228425],[-0.01736521202253394,1.4380643733488596]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.2917845080635535,1.5726009708747486,0.71338606911949],"aabb_xy":[[0.28408131738947645,1.5648916001760103],[0.29948769873763054,1.5803103415734865]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.46869024977975093,0.5338132812432828,0.71338606911949],"aabb_xy":[[0.4454084075816196,0.44881327994605463],[0.4919720919778823,0.6188132825405107]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.08484096421442167,0.573955592244427,0.71338606911949],"aabb_xy":[[-0.10234096334878884,0.5640759652068391],[-0.0673409650800545,0.5838352192820148]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.5376870748748925,-1.249722270154383,0.71338606911949],"aabb_xy":[[0.524456129340211,-1.2629496891763823],[0.5509180204095736,-1.2364948511323834]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[-0.41849229107036817,-0.12136644236753069,0.71338606911949],"aabb_xy":[[-0.48249229144790173,-0.17111170921834296],[-0.3544922906928345,-0.07162117551671841]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_22","position":[0.3110319668892916,1.3100693972289417,0.71338606911949],"aabb_xy":[[0.27759179169327186,1.2766257713980111],[0.3444721420853111,1.3435130230598713]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6690673396393944,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7874.png","name":"7874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7874.png","name":"7874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3953.png","name":"3953"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9153.png","name":"9153"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6475.png","name":"6475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6413.png","name":"6413"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":509.9946231590473,"rotation_z_degrees":120.8022134484163,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01790514619328808,0.019561439052495386,-0.0031287493734909883]},{"name":"camera_2","offset_m":[0.0019450663019091007,-0.01563135505418145,-0.004918944084095815]},{"name":"camera_3","offset_m":[-0.010679532890320682,0.012415280483173408,-0.0022819394166379015]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009917208636502396,0.001307780286115202,-0.0009139905426978978],"end_effector_yaw_offset_degrees":-0.7222227700751167},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[5.1640047842920096e-05,0.0012565915461405937,0.001565270850111889],"end_effector_yaw_offset_degrees":-0.29793737172849855},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010157645062992518,0.0014628870360260454,0.00078112779968979],"end_effector_yaw_offset_degrees":-0.8300128492558476}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003998500024943218,-0.00016578193781612363],"position_m":[0.3125998500024943,0.007734218062183877,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003583521455314721,0.002192580626840233],"position_m":[0.27181647854468527,-0.30620741937315976,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004680166209475257,-0.0038044345414252976],"position_m":[0.17078016620947525,0.3006955654585747,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000195186004439212,-0.0007722659420682154],"position_m":[0.3438048139955608,0.16152773405793178,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f87afeca71acb6b91d6ca5855f0ef74d6d7fc23d087e4032aa5fe7cb0b4f6041","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7874/tex_ceiling_textures_6413/tex_floor_textures_6475/tex_table_textures_3953/tex_wall_textures_9153","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":8138111672962492785,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":8138111672962492785,"visual_seed":8138111672962492785,"scene_id":"lab_003","finished_at":"2026-09-04T15:00:27"} +{"episode_id":"ep_000028","started_at":"2026-09-04T15:00:30","dimensions":{"distractor":{"count":21,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.3140788964094934,0.869393268256017,0.71338606911949],"aabb_xy":[[0.29706879911944273,0.853258779757743],[0.33108899369954403,0.8855277567542909]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.3898808051573191,-2.310126881433885,0.71338606911949],"aabb_xy":[[-0.42419708233193704,-2.3601268814070626],[-0.35556452798270116,-2.260126881460707]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.06857576439651325,-1.6047464388208348,0.71338606911949],"aabb_xy":[[0.031075763731934544,-1.6204334968210565],[0.10607576506109194,-1.5890593808206122]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.5252371882615243,-2.0748008656503263,0.71338606911949],"aabb_xy":[[0.517975940691117,-2.0875878759138358],[0.5324984358319319,-2.062013855386817]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[0.0880557855102364,-2.0834780412123246,0.71338606911949],"aabb_xy":[[0.023055787628588623,-2.1346017049188655],[0.15305578339188422,-2.0323543775057837]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[0.2079080082403365,-1.692558399275327,0.71338606911949],"aabb_xy":[[0.1744288409792956,-1.726037512646434],[0.24138717550137748,-1.65907928590422]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.4646280709898938,-0.4997175451476621,0.71338606911949],"aabb_xy":[[0.40062807387778815,-0.5487499149420727],[0.5286280681019995,-0.4506851753532515]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[0.3926117862484939,0.5233228376812464,0.71338606911949],"aabb_xy":[[0.3376380642121611,0.46832283811701325],[0.44758550828482685,0.5783228372454796]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[0.6803699650374797,-0.012605534040860178,0.71338606911949],"aabb_xy":[[0.6570881228393483,-0.09760553533808823],[0.7036518072356109,0.07239446725636788]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.4751892198733565,0.2440003248032343,0.71338606911949],"aabb_xy":[[0.4201960085362198,0.18900032446444073],[0.5301824312104932,0.2990003251420279]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.3312344509327141,-0.452707203442396,0.71338606911949],"aabb_xy":[[0.30873802949885,-0.47520720324914345],[0.3537308723665782,-0.43020720363564857]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[0.6325547537958025,-1.1551852065858765,0.71338606911949],"aabb_xy":[[0.5525547566362272,-1.1667328075436936],[0.7125547509553778,-1.1436376056280595]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[0.6899778270486598,0.9098030918536297,0.71338606911949],"aabb_xy":[[0.6817632819329758,0.9011265015559883],[0.6981923721643437,0.918479682151271]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.4827608576676925,-2.4329718071985638,0.71338606911949],"aabb_xy":[[-0.4868768077797651,-2.437087362231409],[-0.4786449075556198,-2.4288562521657178]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[-0.6846469663031858,1.7118754140055938,0.71338606911949],"aabb_xy":[[-0.6886074500729201,1.7042075494200735],[-0.6806864825334514,1.7195432785911147]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[-0.4188810270982709,0.7766872618229361,0.71338606911949],"aabb_xy":[[-0.4828810244006173,0.7323208348550794],[-0.3548810297959245,0.8210536887907929]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.473951498371295,0.49520336589524705,0.71338606911949],"aabb_xy":[[-0.5109856077993548,0.4608261585615375],[-0.4369173889432353,0.5295805732289565]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[0.2929372870864151,-2.4199637894020816,0.71338606911949],"aabb_xy":[[0.23293728544349324,-2.4719639386940258],[0.35293728872933694,-2.3679636401101374]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.6161190748145051,-2.332755443362328,0.71338606911949],"aabb_xy":[[0.5936190743024644,-2.355247301727726],[0.6386190753265456,-2.310263584996929]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.4787318485942021,-1.6657259532201125,0.71338606911949],"aabb_xy":[[-0.49631015078314894,-1.683300442794217],[-0.46115354640525524,-1.6481514636460075]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[0.6559858068963496,0.4299666201779617,0.71338606911949],"aabb_xy":[[0.6471837515873767,0.42215529402303265],[0.6647878622053222,0.4377779463328908]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6751408395861999,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7916.png","name":"7916"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7916.png","name":"7916"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5210.png","name":"5210"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8722.png","name":"8722"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7794.png","name":"7794"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2182.png","name":"2182"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":568.0140640606683,"rotation_z_degrees":220.08757156218522,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016758210221180254,0.015253216202856464,-0.012853835354653946]},{"name":"camera_2","offset_m":[0.016270495206793422,0.006920651975228603,-0.007822442720469471]},{"name":"camera_3","offset_m":[0.014431959806334157,-0.014286427199592744,0.011327322878930412]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017840817710692192,-0.001570785021181464,-0.0016837483576374753],"end_effector_yaw_offset_degrees":0.2616182983320159},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001896363178909109,-0.0014767457020549205,-0.00020994593515476809],"end_effector_yaw_offset_degrees":-0.23427899894216853},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013533662535778063,-0.0016607105714255273,-0.001707966552665031],"end_effector_yaw_offset_degrees":0.4301289709623959}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037916755334093345,0.004792691148590897],"position_m":[0.3159916755334093,0.012692691148590899,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023426969924527277,0.0004371846236450516],"position_m":[0.2777426969924527,-0.30796281537635495,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000968746946294897,-0.0031833199519126754],"position_m":[0.1670687469462949,0.3013166800480873,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004864825907996571,0.0015733667707346407],"position_m":[0.34886482590799656,0.16387336677073464,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"31556bc7711e65f66a504320bc3bdf8fb2bd856de2f686961e6cd8721f7261f2","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0028.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7916/tex_ceiling_textures_2182/tex_floor_textures_7794/tex_table_textures_5210/tex_wall_textures_8722","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":2253139273533976076,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":2253139273533976076,"visual_seed":2253139273533976076,"scene_id":"lab_003","finished_at":"2026-09-04T15:03:14"} +{"episode_id":"ep_000029","started_at":"2026-09-04T15:03:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.03985370180767178,-2.2504506493355527,0.71338606911949],"aabb_xy":[[-0.05676443424401355,-2.263922854928167],[-0.02294296937132999,-2.2369784437429376]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.18640614379235798,1.522639623526294,0.71338606911949],"aabb_xy":[[-0.21140614334409646,1.5124971396611593],[-0.1614061442406195,1.5327821073914287]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.29293000305769207,-1.8893853237382126,0.71338606911949],"aabb_xy":[[-0.3128210429380323,-1.9020411350229098],[-0.2730389631773518,-1.8767295124535162]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.6058352191164446,1.5280893434167369,0.71338606911949],"aabb_xy":[[-0.6553156403304032,1.4640893455038853],[-0.5563547979024857,1.592089341329589]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.6196305530251808,-1.3995766842680368,0.71338606911949],"aabb_xy":[[-0.627758241218494,-1.4084902926787446],[-0.6115028648318676,-1.3906630758573295]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[0.1273592686868139,-1.0473285110023627,0.71338606911949],"aabb_xy":[[0.10985926955244672,-1.0572081380399505],[0.14485926782118105,-1.0374488839647749]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.44974313408511557,0.8095103188812347,0.71338606911949],"aabb_xy":[[-0.4673214362740623,0.7919358293071298],[-0.4321648318961686,0.8270848084553396]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.5482890891751511,0.9829124547821424,0.71338606911949],"aabb_xy":[[0.49427349289325095,0.9189124518898851],[0.602304685457051,1.0469124576743996]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[0.2751425324703075,-1.5725892688671503,0.71338606911949],"aabb_xy":[[0.1951425310401803,-1.6521064238797598],[0.3551425339004347,-1.4930721138545409]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_9","position":[-0.5415927417006559,-2.40049594061336,0.71338606911949],"aabb_xy":[[-0.5640927419441712,-2.412700575273132],[-0.5190927414571405,-2.388291305953588]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[-0.37197183171922427,0.18692085031304506,0.71338606911949],"aabb_xy":[[-0.38274480564059205,0.15192085209400608],[-0.3611988577978565,0.22192084853208405]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[0.30456645133555393,-2.0363350323633655,0.71338606911949],"aabb_xy":[[0.27108728407451305,-2.069814145734473],[0.33804561859659493,-2.002855918992259]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[-0.40466398107760193,-1.51593474717496,0.71338606911949],"aabb_xy":[[-0.4391264590906897,-1.522598424357883],[-0.37020150306451416,-1.509271069992037]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[-0.5656507633961803,-0.9427212823950935,0.71338606911949],"aabb_xy":[[-0.6456507666540232,-1.0227177901870772],[-0.4856507601383373,-0.8627247746031094]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[0.6588840108671918,1.7094759129308037,0.71338606911949],"aabb_xy":[[0.6088997751590147,1.659475914117308],[0.7088682465753692,1.7594759117442993]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[-0.38190719421562075,-1.2057517297301943,0.71338606911949],"aabb_xy":[[-0.43690040555275755,-1.260751730068988],[-0.326913982878484,-1.150751729391401]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.27519908973400753,1.726256605141136,0.71338606911949],"aabb_xy":[[0.26727580949525925,1.703756604903133],[0.2831223699727559,1.7487566053791397]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.422896387217551,-0.17453283808421816,0.71338606911949],"aabb_xy":[[-0.4868963895603526,-0.21947368932835068],[-0.35889638487474945,-0.1295919868400857]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[-0.6366144016926948,0.8735971700595648,0.71338606911949],"aabb_xy":[[-0.6436547116262318,0.7935971706598938],[-0.6295740917591578,0.9535971694592366]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.6048048339594052,-0.7484489361252602,0.71338606911949],"aabb_xy":[[0.5710292747687122,-0.7624874313384252],[0.6385803931500982,-0.7344104409120952]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.02284974494331371,-2.522473550337553,0.71338606911949],"aabb_xy":[[-0.014650256241479085,-2.526891773033613],[0.0603497461281065,-2.518055327641492]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.23338153500655523,-2.2297677019908044,0.71338606911949],"aabb_xy":[[0.17575106611928432,-2.2897677009175146],[0.291012003893826,-2.1697677030640934]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725643433222671,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1939.png","name":"1939"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1939.png","name":"1939"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2502.png","name":"2502"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6789.png","name":"6789"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/191.png","name":"191"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2321.png","name":"2321"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":754.307395379014,"rotation_z_degrees":103.81281657047683,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0113194829395523,0.01599619438627613,-0.00382156569352091]},{"name":"camera_2","offset_m":[0.006656711236584782,0.010741552602612229,-0.009668205968255008]},{"name":"camera_3","offset_m":[-0.013605472046135799,0.019153573170404937,-0.0039309062990067825]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001349077161164737,-0.0019011407298038518,0.00048073801954148527],"end_effector_yaw_offset_degrees":-0.5846725689296541},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015856353096175362,-0.0009319119779196386,0.0019084954342138806],"end_effector_yaw_offset_degrees":0.1121396647295152},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017922265590396642,0.00031491836845877865,-0.0008473958388320257],"end_effector_yaw_offset_degrees":0.030443552875203173}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036266575864996415,0.001197511863265899],"position_m":[0.31582665758649964,0.009097511863265899,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00014664909957546896,0.0012293833409024093],"position_m":[0.2752533509004245,-0.3071706166590976,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009501022903372451,0.0017638728829077275],"position_m":[0.16705010229033723,0.30626387288290774,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000727378148866609,0.0029404324177164385],"position_m":[0.3432726218511334,0.16524043241771644,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c7e5e857dfc7a637596334d1bc1ecdff66d5539925face97eb1b631c4dcd1e86","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0029.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1939/tex_ceiling_textures_2321/tex_floor_textures_191/tex_table_textures_2502/tex_wall_textures_6789","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":1675597195423277174,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":1675597195423277174,"visual_seed":1675597195423277174,"scene_id":"lab_003","finished_at":"2026-09-04T15:06:00"} +{"episode_id":"ep_000030","started_at":"2026-09-04T15:06:03","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[0.4862522069547872,-2.4157908660918332,0.71338606911949],"aabb_xy":[[0.4311270013251964,-2.4757908675331204],[0.5413774125843779,-2.355790864650546]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[0.5110506801667403,1.1905416009485457,0.71338606911949],"aabb_xy":[[0.5038069141204948,1.1105416027449433],[0.5182944462129855,1.270541599152148]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[0.2680502815160085,1.1365309174883098,0.71338606911949],"aabb_xy":[[0.2639144251833083,1.0990309180439528],[0.2721861378487087,1.1740309169326668]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.5145792650038588,-1.8177269614517484,0.71338606911949],"aabb_xy":[[-0.5495792649803546,-1.827191577499365],[-0.4795792650273629,-1.8082623454041318]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.22173828959367076,1.0445381775888531,0.71338606911949],"aabb_xy":[[-0.27936875848094156,0.9845381786621421],[-0.1641078207063999,1.1045381765155633]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[0.6115597346807724,-0.9566461965735644,0.71338606911949],"aabb_xy":[[0.5515597338199595,-1.0080726265800506],[0.6715597355415851,-0.9052197665670779]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[0.007021460338202279,1.6591551457943736,0.71338606911949],"aabb_xy":[[-0.04797853883838721,1.604165471019416],[0.062021459514791766,1.7141448205693313]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.40824928217018974,-1.273214567511093,0.71338606911949],"aabb_xy":[[0.38607675519353885,-1.2953902346672161],[0.43042180914684053,-1.25103890035497]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.6230621680595847,-0.2554700104793737,0.71338606911949],"aabb_xy":[[0.5980621687876223,-0.27181537407553596],[0.6480621673315469,-0.2391246468832113]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.20252823531996988,0.26774934965943675,0.71338606911949],"aabb_xy":[[-0.2825282327235632,0.18775677846125396],[-0.12252823791637642,0.34774192085761957]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[0.7078630099405412,1.5963862300508418,0.71338606911949],"aabb_xy":[[0.6909522775041993,1.582914024458227],[0.7247737423768829,1.6098584356434562]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.6871129562567106,0.9523422785542843,0.71338606911949],"aabb_xy":[[0.67781933801956,0.9148422800661504],[0.6964065744938611,0.9898422770424182]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.14199203524823378,-1.17105917456258,0.71338606911949],"aabb_xy":[[0.12531489925513828,-1.1877590985365103],[0.1586691712413293,-1.1543592505886497]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[0.5808825231975099,-0.39021193195588744,0.71338606911949],"aabb_xy":[[0.5433825227001516,-0.3941806155040058],[0.6183825236948681,-0.38624324840776897]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[-0.23887211005684772,-1.4580612675295712,0.71338606911949],"aabb_xy":[[-0.258930521670088,-1.4781263544387284],[-0.21881369844360743,-1.4379961806204136]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.42788260034710324,-1.081430709945729,0.71338606911949],"aabb_xy":[[0.4163136196001667,-1.106430710062661],[0.43945158109403987,-1.0564307098287975]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.6112362517316279,-0.609803896734231,0.71338606911949],"aabb_xy":[[-0.623168986093456,-0.6221860495420902],[-0.5993035173697998,-0.5974217439263715]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.3228346174320478,-0.6770483672484278,0.71338606911949],"aabb_xy":[[0.31307862792287383,-0.6868109013076622],[0.3325906069412216,-0.6672858331891933]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[0.5271227009856401,0.8469160300648784,0.71338606911949],"aabb_xy":[[0.5094470703970417,0.8292358137854755],[0.5447983315742384,0.864596246344281]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[0.1820448857572715,-2.066162133203828,0.71338606911949],"aabb_xy":[[0.1180448838449292,-2.1220732824618382],[0.24604488766961388,-2.0102509839458174]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.3541641377591327,-1.3553844176992822,0.71338606911949],"aabb_xy":[[-0.3717424399480795,-1.3729589072733872],[-0.3365858355701858,-1.3378099281251772]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[-0.20286173639882515,0.020675309712798295,0.71338606911949],"aabb_xy":[[-0.22036173665816183,0.006583767524025673],[-0.18536173613948856,0.03476685190157092]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.4986065862253585,-0.3665581337124766,0.71338606911949],"aabb_xy":[[-0.5117578321966478,-0.3915581334691632],[-0.48545534025406917,-0.34155813395579004]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.13954604395688175,-2.320673377137125,0.71338606911949],"aabb_xy":[[0.05955222037832353,-2.4006733797299664],[0.21953986753543997,-2.2406733745442833]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_24","position":[0.03524381129010956,1.1642864202435308,0.71338606911949],"aabb_xy":[[-0.0484784142099729,1.0742864167088348],[0.11896603679019202,1.2542864237782267]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[-0.23265016823523732,-1.673234692193133,0.71338606911949],"aabb_xy":[[-0.32265016497084753,-1.7264181555104272],[-0.14265017149962708,-1.6200512288758382]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_26","position":[-0.31069259561849477,-0.1768597078453964,0.71338606911949],"aabb_xy":[[-0.3746925959960284,-0.22660497469620866],[-0.24669259524096115,-0.12711444099458413]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_27","position":[-0.3938715569908207,0.6586232002911401,0.71338606911949],"aabb_xy":[[-0.4438715565671554,0.6086426213390341],[-0.34387155741448594,0.708603779243246]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6743208842816494,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6982.png","name":"6982"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6982.png","name":"6982"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4613.png","name":"4613"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8656.png","name":"8656"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5175.png","name":"5175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9936.png","name":"9936"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":644.1279424635338,"rotation_z_degrees":311.76217579974946,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010380631982816243,0.005378265816729743,-0.012882688139699516]},{"name":"camera_2","offset_m":[-0.015243731814089508,0.006028981640543461,-0.017144290382648884]},{"name":"camera_3","offset_m":[0.005915268860502115,-0.01988479367007972,-0.018248142773961074]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006318697999963992,-0.000256536545653534,-0.0004936727245581523],"end_effector_yaw_offset_degrees":0.24419151535592198},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019632488169288725,-0.001934685632485019,0.0013793360997526836],"end_effector_yaw_offset_degrees":0.8149577718768133},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017057702181874448,-0.00023016807693502757,0.0006571638687960309],"end_effector_yaw_offset_degrees":0.1573851163842408}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0035739159302411406,-0.0032566728398337142],"position_m":[0.30862608406975883,0.0046433271601662865,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-5.656714116899532e-05,-0.002424365695062384],"position_m":[0.275343432858831,-0.3108243656950624,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001967002417074537,0.0031563079171686706],"position_m":[0.16413299758292546,0.30765630791716864,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004555469944694954,-0.004992945027755692],"position_m":[0.339444530055305,0.15730705497224431,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8712112e2e6af1d7a5a87e6b737475232ee4abbbc400f38756901edbb0dc37c7","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6982/tex_ceiling_textures_9936/tex_floor_textures_5175/tex_table_textures_4613/tex_wall_textures_8656","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":4392389261510393927,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":4392389261510393927,"visual_seed":4392389261510393927,"scene_id":"lab_003","finished_at":"2026-09-04T15:08:36"} +{"episode_id":"ep_000031","started_at":"2026-09-04T15:08:40","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[0.308248139108833,0.9772273040620809,0.71338606911949],"aabb_xy":[[0.23824813697740332,0.9544653384363853],[0.3782481412402624,0.9999892696877766]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[0.21450377273561427,-0.9999139854875494,0.71338606911949],"aabb_xy":[[0.13450377557603896,-1.0114615864453662],[0.29450376989518956,-0.9883663845297322]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.050218944108856634,1.734951962953931,0.71338606911949],"aabb_xy":[[0.042192673478230636,1.7262004679765786],[0.05824521473948263,1.7437034579312838]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.08331535569313797,-1.727775293851912,0.71338606911949],"aabb_xy":[[-0.1473153559671162,-1.7778413940492],[-0.01931535541915974,-1.677709193654624]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.2118003558972545,-0.7252641129604751,0.71338606911949],"aabb_xy":[[-0.2918003561708614,-0.7982136607861917],[-0.13180035562364747,-0.6523145651347583]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.5323430138557737,-0.5144825164498976,0.71338606911949],"aabb_xy":[[0.4423430115217547,-0.5919648710350103],[0.6223430161897928,-0.43700016186478496]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.14203319697961536,1.7523260795262483,0.71338606911949],"aabb_xy":[[0.10078438594970061,1.6973260800140304],[0.18328200800953007,1.8073260790384653]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[-0.11930384004164374,1.6033870782900412,0.71338606911949],"aabb_xy":[[-0.15045075888522685,1.5333870796032338],[-0.08815692119806062,1.6733870769768482]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.5598755702476347,-0.03414646244346731,0.71338606911949],"aabb_xy":[[-0.5823747059738617,-0.05664646322173028],[-0.5373764345214077,-0.011646461665204333]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.5178483347200588,0.21450664727125623,0.71338606911949],"aabb_xy":[[-0.5330112076969958,0.1993411899761375],[-0.5026854617431217,0.22967210456637502]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[0.39391132017215047,-0.7463646600676845,0.71338606911949],"aabb_xy":[[0.3714113196601098,-0.7688565184330828],[0.416411320684191,-0.7238728017022861]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.2593076238301806,-2.3480840966475807,0.71338606911949],"aabb_xy":[[-0.29430762296013624,-2.3538293177232443],[-0.22430762470022492,-2.342338875571916]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.16623827210650777,-0.6011916075058776,0.71338606911949],"aabb_xy":[[0.15812461743313067,-0.6092974239599067],[0.17435192677988487,-0.5930857910518486]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.16145549094762612,1.3101510331342023,0.71338606911949],"aabb_xy":[[0.15341915624634125,1.3021129138297856],[0.16949182564891094,1.3181891524386191]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.2695776740635429,0.468709704526177,0.71338606911949],"aabb_xy":[[-0.3038939512381608,0.41870970455299933],[-0.23526139688892495,0.5187097044993547]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[-0.27582089076531996,-1.7224577023043306,0.71338606911949],"aabb_xy":[[-0.2854525269857496,-1.7320950150840393],[-0.26618925454489034,-1.7128203895246215]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.08046244146553949,0.5904989871347364,0.71338606911949],"aabb_xy":[[-0.1604624428956667,0.5109818321221268],[-0.0004624400354122926,0.6700161421473457]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[0.6209409449909955,-0.7554729849468438,0.71338606911949],"aabb_xy":[[0.5799230016046246,-0.805472985577801],[0.6619588883773664,-0.7054729843158863]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.6345937781120922,1.093008508976797,0.71338606911949],"aabb_xy":[[-0.6716278875401519,1.0586313016430873],[-0.5975596686840324,1.127385716310506]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[0.33846584929319556,-2.478996930007878,0.71338606911949],"aabb_xy":[[0.2971613062294596,-2.5429969295759944],[0.37977039235693155,-2.4149969304397603]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.3624848383876354,0.04908810943287234,0.71338606911949],"aabb_xy":[[-0.3802783453225518,0.031288363837074666],[-0.3446913314527189,0.06688785502867]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[-0.5576859229221669,0.6819823011481052,0.71338606911949],"aabb_xy":[[-0.6476859223405377,0.6486068043039154],[-0.4676859235037959,0.7153577979922948]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[-0.5344871683309544,-1.5981631425416953,0.71338606911949],"aabb_xy":[[-0.5583233859715595,-1.688163143350182],[-0.5106509506903494,-1.508163141733209]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[0.4356221955631654,-0.1246749276673933,0.71338606911949],"aabb_xy":[[0.4237501125516643,-0.20967492736104365],[0.4474942785746665,-0.03967492797374296]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[-0.6390907625378245,-0.1692393056625794,0.71338606911949],"aabb_xy":[[-0.6940839738749612,-0.224239306001373],[-0.5840975512006877,-0.11423930532378579]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[0.5198384255357817,1.2794961510306613,0.71338606911949],"aabb_xy":[[0.5031612895426862,1.262796227056731],[0.5365155615288772,1.2961960750045916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6710770156941109,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8372.png","name":"8372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8372.png","name":"8372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8059.png","name":"8059"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/365.png","name":"365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5104.png","name":"5104"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9772.png","name":"9772"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":534.9156601014305,"rotation_z_degrees":69.40605683156284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0099851550683772,-0.004053019993232994,-0.006340232075411852]},{"name":"camera_2","offset_m":[0.007707324583501544,-0.004968915366304944,0.002545256957860134]},{"name":"camera_3","offset_m":[0.00882713937333265,-0.0006603711178751193,0.016220366282522377]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000780966954264098,-0.0003933640019882186,-0.0005232416664298469],"end_effector_yaw_offset_degrees":-0.3974095729991607},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001443088282850251,0.0009440582230058055,-0.0019492671915122938],"end_effector_yaw_offset_degrees":0.23967907981246306},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019994835081267514,-0.0019314397265856411,-0.000747913468786507],"end_effector_yaw_offset_degrees":-0.21694887027455012}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00458468542046186,0.0009452393926488488],"position_m":[0.3076153145795381,0.008845239392648849,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030853165864474933,-0.001217817685280518],"position_m":[0.27231468341355247,-0.3096178176852805,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008515141113276219,0.0036878882822276504],"position_m":[0.1669515141113276,0.30818788828222765,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[8.918712355164473e-05,-0.00474049750872337],"position_m":[0.34408918712355163,0.15755950249127662,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8fb5ddce099c0d6b3ee8051687c973e83a6ae02725507240f249cc73c98a3ef4","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8372/tex_ceiling_textures_9772/tex_floor_textures_5104/tex_table_textures_8059/tex_wall_textures_365","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":7428235964561695096,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":7428235964561695096,"visual_seed":7428235964561695096,"scene_id":"lab_003","finished_at":"2026-09-04T15:11:20"} +{"episode_id":"ep_000032","started_at":"2026-09-04T15:11:24","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[-0.5802423363308927,-1.3808258243222282,0.71338606911949],"aabb_xy":[[-0.6302423357710882,-1.430793748806544],[-0.530242336890697,-1.3308578998379115]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.12441414674600204,0.8559615379417145,0.71338606911949],"aabb_xy":[[-0.17441414810688927,0.8059836333662987],[-0.07441414538511482,0.90593944251713]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.44805895730563505,-0.5620959226187856,0.71338606911949],"aabb_xy":[[-0.4581406643842085,-0.6420959205109001],[-0.4379772502270615,-0.48209592472667084]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.5297428707718626,0.3409267360168524,0.71338606911949],"aabb_xy":[[0.4657428704978843,0.29086063581956445],[0.5937428710458408,0.3909928362141404]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.1301704974358231,1.784846815314388,0.71338606911949],"aabb_xy":[[-0.15308621032087302,1.7619425181779649],[-0.10725478455077322,1.8077511124508119]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.48422477725410673,0.027779650051944937,0.71338606911949],"aabb_xy":[[-0.49939694653574,0.012610793123741582],[-0.46905260797247333,0.04294850698014829]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.30447832653552287,-0.4899538571499513,0.71338606911949],"aabb_xy":[[-0.33894067393366456,-0.5244477395477739],[-0.27001597913738096,-0.45545997475212857]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.34208698475701116,0.43326471947714973,0.71338606911949],"aabb_xy":[[0.30708698556419284,0.42229767347948705],[0.37708698394982937,0.4442317654748123]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[-0.6263864132109065,-0.46326738717791827,0.71338606911949],"aabb_xy":[[-0.6763864135714726,-0.5132473743875212],[-0.5763864128503404,-0.41328739996831537]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.3955589971374709,-1.093187822663436,0.71338606911949],"aabb_xy":[[-0.48555899387308105,-1.1463712859807302],[-0.3055590004018606,-1.0400043593461412]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.6074940979842589,1.2635641494123955,0.71338606911949],"aabb_xy":[[-0.6183998740718215,1.183564153013566],[-0.5965883218966961,1.3435641458112244]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[0.6158224444211171,-1.1575565679056277,0.71338606911949],"aabb_xy":[[0.6117442865140674,-1.161637548153891],[0.6199006023281668,-1.1534755876573644]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.10420393433013264,-1.7763551431409654,0.71338606911949],"aabb_xy":[[0.0242039369265392,-1.856347714339148],[0.184203931733726,-1.6963625719427824]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.2833385056864426,-0.9516341191876829,0.71338606911949],"aabb_xy":[[0.24833850741632268,-0.958708246882671],[0.3183385039565625,-0.9445599914926947]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[-0.3267881935355141,-1.508833379958481,0.71338606911949],"aabb_xy":[[-0.3381499281888002,-1.520201846364769],[-0.31542645888222787,-1.497464913552193]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.6315532050617413,-0.22748422003340085,0.71338606911949],"aabb_xy":[[-0.6466555065227593,-0.2425857416644626],[-0.6164509036007231,-0.21238269840233895]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[-0.542837184225538,1.596443833916402,0.71338606911949],"aabb_xy":[[-0.607837185182665,1.5444956219826964],[-0.4778371832684107,1.6483920458501076]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[-0.4560950073279937,-0.3210345314964811,0.71338606911949],"aabb_xy":[[-0.4679670903394948,-0.4060345311901315],[-0.4442229243164926,-0.2360345318028308]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[0.41957443917258863,-1.3291345215454673,0.71338606911949],"aabb_xy":[[0.41566056597716605,-1.337883536952024],[0.4234883123680111,-1.3203855061389105]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[0.6714449150517452,-0.954685674416045,0.71338606911949],"aabb_xy":[[0.6642011490054999,-1.0346856726196472],[0.6786886810979905,-0.8746856762124425]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.6719284493599136,1.7061267860285283,0.71338606911949],"aabb_xy":[[-0.6895067515488605,1.6885522964544233],[-0.6543501471709668,1.7237012756026333]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.4072632437672934,-0.6047414036251988,0.71338606911949],"aabb_xy":[[0.3432632466551877,-0.6537737734196094],[0.4712632408793991,-0.5557090338307882]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[-0.0032078118640943565,-0.9175325929297713,0.71338606911949],"aabb_xy":[[-0.08693003736417682,-1.0075325964644672],[0.0805144136359881,-0.8275325893950753]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[-0.34186642211056445,-1.9454983619852109,0.71338606911949],"aabb_xy":[[-0.3879515133652959,-2.0094983592377655],[-0.2957813308558329,-1.8814983647326557]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[-0.17663403781480125,-1.0913644055004952,0.71338606911949],"aabb_xy":[[-0.18462752761008328,-1.099362537440971],[-0.16864054801951922,-1.0833662735600198]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[0.5442710609677279,-1.5137441405205803,0.71338606911949],"aabb_xy":[[0.5365678702936508,-1.5214535112193182],[0.5519742516418048,-1.5060347698218424]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_26","position":[-0.6244726895836482,-0.012450010172640802,0.71338606911949],"aabb_xy":[[-0.6884683869787447,-0.07645000847334948],[-0.5604769921885515,0.05154998812806788]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_27","position":[-0.6258269735489205,-0.8636790438917272,0.71338606911949],"aabb_xy":[[-0.633239429090309,-0.8695302543133552],[-0.618414518007532,-0.8578278334700993]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_28","position":[-0.21994202155276876,-1.6655953586652252,0.71338606911949],"aabb_xy":[[-0.24244202107647614,-1.6880913061158456],[-0.19744202202906133,-1.643099411214604]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_29","position":[0.2742741578871667,1.3674743198714148,0.71338606911949],"aabb_xy":[[0.21027415871739677,1.3207076327524525],[0.33827415705693664,1.4142410069903775]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_30","position":[0.5585015749908939,-1.9339600861866086,0.71338606911949],"aabb_xy":[[0.5538664598386605,-1.937827421263757],[0.5631366901431272,-1.9300927511094599]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6723711932253281,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8340.png","name":"8340"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8340.png","name":"8340"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9065.png","name":"9065"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7239.png","name":"7239"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1599.png","name":"1599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3108.png","name":"3108"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":535.901720424896,"rotation_z_degrees":346.9747014503285,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007275034219771971,0.018242249987707137,0.018980922456417127]},{"name":"camera_2","offset_m":[0.01618210273342798,-0.0025575561917217625,-0.0023400343764632923]},{"name":"camera_3","offset_m":[-0.006691350036034431,0.011719097071178564,-0.01272983357871028]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010880482178711915,0.0013178779206686779,-0.0013656778795582357],"end_effector_yaw_offset_degrees":-0.6612148197287004},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007700567238938861,0.0009223700422414435,0.00018025968283425517],"end_effector_yaw_offset_degrees":-0.3412609061615517},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001360141626948644,-0.00197304066689314,-0.0017350042806391574],"end_effector_yaw_offset_degrees":-0.12000602769776147}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012557194842184815,0.0014507725969780585],"position_m":[0.3109442805157815,0.00935077259697806,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009547479926406057,0.0038103259009989203],"position_m":[0.2763547479926406,-0.30458967409900106,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001732948076672103,0.00441056084774524],"position_m":[0.1643670519233279,0.3089105608477452,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007169429595235465,-0.0042280672509646],"position_m":[0.34471694295952354,0.1580719327490354,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3dfefaee483c199be7e6a9915562de93ac80d169a08ff5ddc4f4669e88dae04a","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0032.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8340/tex_ceiling_textures_3108/tex_floor_textures_1599/tex_table_textures_9065/tex_wall_textures_7239","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":2625310089286609637,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":2625310089286609637,"visual_seed":2625310089286609637,"scene_id":"lab_003","finished_at":"2026-09-04T15:14:04"} +{"episode_id":"ep_000033","started_at":"2026-09-04T15:14:08","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.5076373195229439,0.7695660089165046,0.71338606911949],"aabb_xy":[[-0.5726373180800167,0.739813475502622],[-0.44263732096587105,0.7993185423303872]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.6048945700056534,-0.49704750522245034,0.71338606911949],"aabb_xy":[[-0.6146505595148272,-0.5068100392816847],[-0.5951385804964794,-0.4872849711632158]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.034550484036345086,-1.2845803745597724,0.71338606911949],"aabb_xy":[[-0.09855048133869149,-1.3289468015276291],[0.029449513266001322,-1.2402139475919156]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[0.35171275734697005,1.0546261626918825,0.71338606911949],"aabb_xy":[[0.343498212231286,1.0459495723942407],[0.359927302462654,1.0633027529895234]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.6011392562538416,-0.053786851454801,0.71338606911949],"aabb_xy":[[0.5732942194732346,-0.08457135019311268],[0.6289842930344488,-0.023002352716489323]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.3425695740626445,-1.8969833414405457,0.71338606911949],"aabb_xy":[[-0.3486065870633092,-1.903010042509494],[-0.33653256106197976,-1.8909566403715978]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.00024909700754127684,1.2492981034012818,0.71338606911949],"aabb_xy":[[-0.06475090087410652,1.198174439694741],[0.06524909488918908,1.3004217671078226]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.6452731995070894,-1.4377743682381814,0.71338606911949],"aabb_xy":[[-0.6902657862255398,-1.4827743675126304],[-0.600280612788639,-1.3927743689637329]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.45720790608253803,0.6192397998017949,0.71338606911949],"aabb_xy":[[-0.4651311863212864,0.5967397995637915],[-0.44928462584378975,0.6417398000397982]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[0.6003796162930723,0.9917405970755016,0.71338606911949],"aabb_xy":[[0.5203796188894789,0.9117480258773186],[0.6803796136966658,1.0717331682736841]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.03167758478692351,-1.1225406390259907,0.71338606911949],"aabb_xy":[[-0.005822415384948439,-1.1552413744088976],[0.06917758495879545,-1.0898399036430833]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[0.441211240271431,-1.1937235974130513,0.71338606911949],"aabb_xy":[[0.3772112383590887,-1.2496347466710618],[0.5052112421837733,-1.137812448155041]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.5910315610242695,0.30445962431880513,0.71338606911949],"aabb_xy":[[-0.676031559716344,0.2724737609239263],[-0.5060315623321947,0.336445487713684]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[-0.2510473170794512,-1.2259700400228082,0.71338606911949],"aabb_xy":[[-0.28604731843093295,-1.246329775979629],[-0.2160473157279695,-1.2056103040659873]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.6666493517422516,0.9938009835402761,0.71338606911949],"aabb_xy":[[-0.6904855693828567,0.9038009827317899],[-0.6428131341016465,1.0838009843487628]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[0.16467208727099392,-1.6030889480785984,0.71338606911949],"aabb_xy":[[0.12717208884759354,-1.616253162046429],[0.20217208569439424,-1.5899247341107676]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.6145055439364362,-0.3873008544720564,0.71338606911949],"aabb_xy":[[-0.6444731008462617,-0.41730085476994216],[-0.5845379870266104,-0.3573008541741707]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.05593752773720562,1.654915863539626,0.71338606911949],"aabb_xy":[[-0.09093752763322448,1.6465416280276859],[-0.02093752784118674,1.663290099051566]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.3892589382507303,-2.3437854974104377,0.71338606911949],"aabb_xy":[[0.3392815213854767,-2.3937854988996863],[0.43923635511598386,-2.293785495921189]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[0.40724923560907955,1.684976303199822,0.71338606911949],"aabb_xy":[[0.3697492370334587,1.672240007536264],[0.4447492341847003,1.6977125988633799]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.30241350977153647,-1.338536113989184,0.71338606911949],"aabb_xy":[[0.2474135115697916,-1.3790580806156214],[0.35741350797328125,-1.2980141473627462]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[0.522530946184443,1.356561286240967,0.71338606911949],"aabb_xy":[[0.4675572241481101,1.3015612866767339],[0.5775046682207758,1.4115612858052002]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[-0.09077863915510131,0.31815523485552166,0.71338606911949],"aabb_xy":[[-0.15477863942907955,0.2680891346582337],[-0.02677863888112307,0.36822133505280963]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[0.40143507622682617,0.8771388910779163,0.71338606911949],"aabb_xy":[[0.38950234186499805,0.864756738270057],[0.4133678105886542,0.8895210438857757]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[-0.2874850438396199,-2.035895751014975,0.71338606911949],"aabb_xy":[[-0.3346144228414555,-2.0998957520593766],[-0.24035566483778414,-1.9718957499705727]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6706812648353395,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1910.png","name":"1910"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1910.png","name":"1910"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4744.png","name":"4744"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9758.png","name":"9758"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/472.png","name":"472"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2843.png","name":"2843"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":651.9333470182177,"rotation_z_degrees":129.43031010936326,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01707512011323931,0.01989322251447238,-0.018783486734887528]},{"name":"camera_2","offset_m":[0.004056670939328721,-0.00149818375901338,-0.007033687938952805]},{"name":"camera_3","offset_m":[-0.01221611880399812,0.019862648694823837,0.018501729250908403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013138391833962082,0.0015626306450406478,0.0017197898440121612],"end_effector_yaw_offset_degrees":0.4594220861117557},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000507436517121115,0.0015735055748327602,0.00042341789855451437],"end_effector_yaw_offset_degrees":-0.6330840941893043},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004794426951731795,-0.0014615807302161875,0.0005217036221732223],"end_effector_yaw_offset_degrees":-0.8789907187239001}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004392939179590189,-0.0010778829719851621],"position_m":[0.30780706082040976,0.006822117028014839,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022233781385430874,0.0013086011839853603],"position_m":[0.2731766218614569,-0.30709139881601466,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001490349613841555,0.004547650205753922],"position_m":[0.16759034961384156,0.3090476502057539,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018933386372219597,0.004502747246957618],"position_m":[0.342106661362778,0.16680274724695762,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"80320bad58810ed5c81c689da24b37750ef06212a6c4772574153eea05d6bcf5","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1910/tex_ceiling_textures_2843/tex_floor_textures_472/tex_table_textures_4744/tex_wall_textures_9758","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":7003871052782145496,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":7003871052782145496,"visual_seed":7003871052782145496,"scene_id":"lab_003","finished_at":"2026-09-04T15:16:48"} +{"episode_id":"ep_000034","started_at":"2026-09-04T15:16:51","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[0.6980575238140321,-2.4321360866665738,0.71338606911949],"aabb_xy":[[0.6906450682726436,-2.4379872970882017],[0.7054699793554206,-2.426284876244946]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.6227286962263763,-1.3867269374670752,0.71338606911949],"aabb_xy":[[0.5882662182132884,-1.393390614649998],[0.6571911742394639,-1.380063260284152]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.3876390693140734,-0.7576664642350142,0.71338606911949],"aabb_xy":[[-0.4376390679599946,-0.8075860078944765],[-0.3376390706681522,-0.7077469205755518]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.5487943915011785,1.3214073561171018,0.71338606911949],"aabb_xy":[[-0.5862943922931739,1.3150395151589116],[-0.511294390709183,1.327775197075292]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.524782690160748,0.27251680472387996,0.71338606911949],"aabb_xy":[[-0.5618167995888076,0.23813959739017052],[-0.4877485807326881,0.3068940120575894]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[0.697210051214411,-1.1196835473202582,0.71338606911949],"aabb_xy":[[0.69225403102953,-1.1421835475223798],[0.7021660713992923,-1.0971835471181366]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[0.21818083032330426,-1.099955536037037,0.71338606911949],"aabb_xy":[[0.16818083074696957,-1.1499361149891432],[0.268180829899639,-1.0499749570849313]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_7","position":[0.10402917439723525,-2.1275100921131256,0.71338606911949],"aabb_xy":[[0.03402917226580571,-2.1502720577388206],[0.1740291765286648,-2.1047481264874297]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[0.06217861260836588,0.9706215797114379,0.71338606911949],"aabb_xy":[[0.04894766707368458,0.9573941606894385],[0.07540955814304717,0.9838489987334373]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[0.37513353934754634,0.8915941604688875,0.71338606911949],"aabb_xy":[[0.3251342641791102,0.8415941591929406],[0.4251328145159825,0.9415941617448349]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.18288848436936633,-2.021492310381796,0.71338606911949],"aabb_xy":[[-0.22038848471759404,-2.033283705962879],[-0.14538848402113852,-2.009700914800712]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[0.6773991317442003,-0.7093179860115426,0.71338606911949],"aabb_xy":[[0.6398991305594074,-0.713736208707603],[0.714899132928993,-0.704899763315482]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.03286118964938756,1.3948480612467948,0.71338606911949],"aabb_xy":[[-0.07803250749755654,1.3308480641022566],[0.012310128198781415,1.4588480583913335]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.03945239882107354,-0.665894760413585,0.71338606911949],"aabb_xy":[[-0.047666943936757515,-0.6745713507112262],[-0.03123785370538956,-0.6572181701159435]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[0.46923297098461303,1.6406908094523325,0.71338606911949],"aabb_xy":[[0.43173297032003427,1.62500375145211],[0.5067329716491916,1.6563778674525544]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[-0.5491446687703463,1.3872848043500552,0.71338606911949],"aabb_xy":[[-0.5667775043638738,1.369661858334432],[-0.5315118331768186,1.404907750365678]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[0.5095428017628598,1.5704570242368496,0.71338606911949],"aabb_xy":[[0.49365830849753467,1.5561040839380258],[0.525427295028185,1.584809964535674]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[-0.46215327134623196,-1.422178372192955,0.71338606911949],"aabb_xy":[[-0.4662692214583046,-1.4262939272258004],[-0.45803732123415924,-1.4180628171601093]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.31384639089280475,0.49173110322546165,0.71338606911949],"aabb_xy":[[-0.39384638790705273,0.4715965515520503],[-0.23384639387855677,0.5118656548988729]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[0.5750604477078554,1.096747568133578,0.71338606911949],"aabb_xy":[[0.5250604463469681,1.0467696635581625],[0.6250604490687426,1.1467254727089937]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[-0.25284261579568584,1.084528273472571,0.71338606911949],"aabb_xy":[[-0.28283427852955617,1.0545282741357702],[-0.22285095306181552,1.1145282728093713]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[0.19508901949991975,1.6567097108345998,0.71338606911949],"aabb_xy":[[0.1911285357301854,1.6490418462490792],[0.19904950326965415,1.6643775754201204]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[-0.23137882722250536,1.3051764037900444,0.71338606911949],"aabb_xy":[[-0.32137882664087625,1.2718009069458547],[-0.14137882780413444,1.3385519006342341]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[0.2893259606593941,-1.4989934860634235,0.71338606911949],"aabb_xy":[[0.2193259590571146,-1.512426279265081],[0.35932596226167357,-1.485560692861766]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[-0.1134011023219339,-1.0842165175790042,0.71338606911949],"aabb_xy":[[-0.12804450787596688,-1.0988752372357884],[-0.09875769676790092,-1.06955779792222]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[0.4794291311023857,0.5016727882203837,0.71338606911949],"aabb_xy":[[0.4419291309305137,0.46897205283747656],[0.5169291312742577,0.5343735236032909]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_26","position":[-0.06341430000087256,0.5534953266211322,0.71338606911949],"aabb_xy":[[-0.06875187566687713,0.5284953256919924],[-0.05807672433486799,0.578495327550272]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_27","position":[0.6406685086150226,0.2077257859852346,0.71338606911949],"aabb_xy":[[0.5606685071848952,0.1282086309726251],[0.7206685100451496,0.2872429409978441]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_28","position":[0.27227105239934934,1.255331229611801,0.71338606911949],"aabb_xy":[[0.26585723875616435,1.2489214093641325],[0.27868486604253423,1.2617410498594692]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_29","position":[0.38590394670862915,-1.8057366238286723,0.71338606911949],"aabb_xy":[[0.33093022467229627,-1.8607366233929055],[0.44087766874496204,-1.750736624264439]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_30","position":[0.2309618916370585,-0.7012613322760539,0.71338606911949],"aabb_xy":[[0.1959618924442402,-0.7122283782737164],[0.26596189082987676,-0.6902942862783912]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[-0.4506635072640084,0.5815064176495888,0.71338606911949],"aabb_xy":[[-0.5206635099005946,0.5614015526537233],[-0.38066350462742193,0.6016112826454543]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_32","position":[0.007879938379321216,-1.1875309793388547,0.71338606911949],"aabb_xy":[[-0.01595627926128385,-1.2775309801473413],[0.031716156019926285,-1.0975309785303684]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_33","position":[0.41446060502723325,-2.1723927596440453,0.71338606911949],"aabb_xy":[[0.32477352871911774,-2.262392759898496],[0.5041476813353487,-2.082392759389595]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_34","position":[0.401994786059237,-2.3529547634600356,0.71338606911949],"aabb_xy":[[0.33799478438123964,-2.40147215493935],[0.46599478773723435,-2.3044373719807214]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6732922555269347,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7287.png","name":"7287"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7287.png","name":"7287"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6488.png","name":"6488"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5417.png","name":"5417"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2881.png","name":"2881"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4761.png","name":"4761"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":535.4956739728902,"rotation_z_degrees":135.74725567766882,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0001895818069417264,-0.010840403985348997,0.01149487863367386]},{"name":"camera_2","offset_m":[-0.013987860047857851,-0.019406891217560434,0.019300381063013298]},{"name":"camera_3","offset_m":[-0.0018682194601514664,0.006708963838111991,0.01982250886290966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018894662651102517,-0.0010578978263419217,0.00011852173120522691],"end_effector_yaw_offset_degrees":0.6628157761342193},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012545656325374018,0.000647114852782368,0.001517236627089072],"end_effector_yaw_offset_degrees":-0.893481942228117},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005196663320425005,4.181042226274797e-05,-0.0008470353507375732],"end_effector_yaw_offset_degrees":0.7178216045264696}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002969874052168505,0.002415181176175749],"position_m":[0.30923012594783145,0.01031518117617575,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018795958227619393,-0.0036962654218546335],"position_m":[0.27352040417723805,-0.31209626542185465,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019349812497964029,-0.0007912082387927545],"position_m":[0.1680349812497964,0.30370879176120724,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002863333653685847,0.0011861922481809905],"position_m":[0.3468633336536858,0.16348619224818098,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d8456124e715eae700a6d42ec674d6cdb625091a188e4e60dc044579c8f18bb7","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7287/tex_ceiling_textures_4761/tex_floor_textures_2881/tex_table_textures_6488/tex_wall_textures_5417","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6488162024763432954,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6488162024763432954,"visual_seed":6488162024763432954,"scene_id":"lab_003","finished_at":"2026-09-04T15:19:29"} +{"episode_id":"ep_000035","started_at":"2026-09-04T15:19:32","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.3570530861753005,-1.6601404514701983,0.71338606911949],"aabb_xy":[[0.3205572655480217,-1.6966243938969559],[0.3935489068025792,-1.6236565090434407]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[-0.409726851398483,1.389020768582041,0.71338606911949],"aabb_xy":[[-0.43472685067044525,1.3726754049858785],[-0.3847268521265207,1.4053661321782032]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[-0.22917673878022998,-0.9956405670556896,0.71338606911949],"aabb_xy":[[-0.2791541556454835,-1.045640568544938],[-0.17919932191497637,-0.945640565566441]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.6894744298470998,1.7040251382124727,0.71338606911949],"aabb_xy":[[0.6544744299510808,1.6956509027005326],[0.7244744297431186,1.7123993737244128]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.07085129802140333,-0.6959270566593714,0.71338606911949],"aabb_xy":[[0.020968601143707122,-0.7459270559056461],[0.12073399489909954,-0.6459270574130966]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[0.5637787335289142,-0.7662746062659564,0.71338606911949],"aabb_xy":[[0.5137856214197223,-0.8162746069401522],[0.613771845638106,-0.7162746055917608]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[-0.22436690065921638,-2.5044321349830723,0.71338606911949],"aabb_xy":[[-0.28936689854086417,-2.5555557986896136],[-0.1593669027775686,-2.453308471276532]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.4172497888847748,-0.8333030139710247,0.71338606911949],"aabb_xy":[[-0.42700577839394865,-0.843065548030259],[-0.4074937993756009,-0.8235404799117901]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[-0.26833206288435596,-2.3327545319312617,0.71338606911949],"aabb_xy":[[-0.3110987697637761,-2.396754535353064],[-0.2255653560049357,-2.2687545285094592]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.49756100954409743,-1.6852110282758725,0.71338606911949],"aabb_xy":[[0.45043163054226165,-1.749211029320274],[0.544690388545933,-1.6212110272314701]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[0.4876965907640156,0.696708120413188,0.71338606911949],"aabb_xy":[[0.42269659072971294,0.6500074437328607],[0.5526965907983183,0.7434087970935153]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.050520335434000585,1.425538031360158,0.71338606911949],"aabb_xy":[[0.02863058784505979,1.3355380340709087],[0.07241008302294138,1.515538028649407]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.02417823307965361,-1.9910147544364987,0.71338606911949],"aabb_xy":[[-0.06082176561242103,-2.0230006178313777],[0.10917823177172825,-1.9590288910416198]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.26944434030306186,-1.4434419737433168,0.71338606911949],"aabb_xy":[[0.244930716206056,-1.4677065670453533],[0.2939579644000677,-1.4191773804412804]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[0.2632973598131698,-0.8210304116433349,0.71338606911949],"aabb_xy":[[0.1832973565491567,-0.8345904439522482],[0.34329736307718295,-0.8074703793344216]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.12056539144959189,1.6058867625350524,0.71338606911949],"aabb_xy":[[-0.21056539512651,1.5444543559579478],[-0.03056538777267368,1.6673191691121565]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[0.5522488645470902,-2.4393215188430366,0.71338606911949],"aabb_xy":[[0.5239191545985501,-2.4437822610367537],[0.5805785744956306,-2.4348607766493195]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.2814502117462323,-1.2915613141078517,0.71338606911949],"aabb_xy":[[0.27774695041709335,-1.2952633324165694],[0.28515347307537114,-1.2878592957991335]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.4819401162580079,1.7546664472773057,0.71338606911949],"aabb_xy":[[0.4660556229926827,1.7403135069784816],[0.497824609523333,1.7690193875761298]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.5748991855697844,0.7821618740785472,0.71338606911949],"aabb_xy":[[-0.5973983212960113,0.7596618733002843],[-0.5524000498435574,0.8046618748568103]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[-0.27509868089158157,0.7368324033344442,0.71338606911949],"aabb_xy":[[-0.3124299574168242,0.702179348539592],[-0.23776740436633895,0.7714854581292965]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[-0.30510093029818103,1.1431436045721624,0.71338606911949],"aabb_xy":[[-0.31000022260474447,1.1154666852695934],[-0.3002016379916175,1.170820523874731]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.676339670123047,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/612.png","name":"612"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/612.png","name":"612"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4179.png","name":"4179"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1838.png","name":"1838"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4885.png","name":"4885"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5365.png","name":"5365"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":612.2509194845554,"rotation_z_degrees":29.173956867098187,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0024730191378014507,-0.012722637227612315,-0.0031700405457956195]},{"name":"camera_2","offset_m":[-0.01763597962338148,0.017322529416125925,0.018365295579076606]},{"name":"camera_3","offset_m":[-0.01133087149533186,0.0029833700318692355,0.007527539913016072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005180240954067083,-0.0009467127150596503,0.0005663203417247799],"end_effector_yaw_offset_degrees":0.763247658268779},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004664112433397905,5.8721688765852806e-05,0.0006725467358618346],"end_effector_yaw_offset_degrees":0.21756393750902192},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001113111805490077,0.0005777390496033989,0.001991146004152739],"end_effector_yaw_offset_degrees":-0.30488632296802565}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014513642681702045,0.0008452433445905417],"position_m":[0.31074863573182976,0.008745243344590543,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003006299927667864,-0.0008950626482644086],"position_m":[0.27840629992766786,-0.3092950626482644,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00205441264970336,0.0036055647304489144],"position_m":[0.16815441264970335,0.3081055647304489,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001441295625046535,-0.0013148107644689868],"position_m":[0.34255870437495345,0.160985189235531,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8eae23551c094846776c0a06e9df49acc15720d0420a5985518afe8b9a90dab4","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_612/tex_ceiling_textures_5365/tex_floor_textures_4885/tex_table_textures_4179/tex_wall_textures_1838","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":1619641527394464973,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":1619641527394464973,"visual_seed":1619641527394464973,"scene_id":"lab_003","finished_at":"2026-09-04T15:22:12"} +{"episode_id":"ep_000036","started_at":"2026-09-04T15:22:17","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.02837368701641685,1.53335831011445,0.71338606911949],"aabb_xy":[[-0.00027564534399937557,1.504712750837374],[0.05702301937683307,1.5620038693915257]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.0652031158196894,-1.8177019983016098,0.71338606911949],"aabb_xy":[[-0.11518192433000529,-1.8677019983073282],[-0.01522430730937352,-1.7677019982958906]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[0.5756192740486596,-0.7097759800484587,0.71338606911949],"aabb_xy":[[0.5444723552050764,-0.7797759787352658],[0.6067661928922427,-0.6397759813616515]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.48692980618181414,-0.47406352042542377,0.71338606911949],"aabb_xy":[[0.482499176826974,-0.47951189216010637],[0.49136043553665437,-0.46861514869074117]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[-0.5188975949329375,1.232059505063464,0.71338606911949],"aabb_xy":[[-0.5413975951764529,1.219854870403692],[-0.49639759468942213,1.244264139723236]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.4803616214334334,-2.0153238004599254,0.71338606911949],"aabb_xy":[[0.4570797792353021,-2.1003238017571535],[0.5036434636315648,-1.9303237991626976]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.45971598516856654,-1.7657026198734158,0.71338606911949],"aabb_xy":[[-0.5096890507010821,-1.815702619685949],[-0.40974291963605114,-1.7157026200608831]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.3580718225286435,-1.6098676192580401,0.71338606911949],"aabb_xy":[[-0.4220718244409859,-1.6657787685160506],[-0.2940718206163012,-1.5539564700000297]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.2552621181622101,-0.4012993192790342,0.71338606911949],"aabb_xy":[[-0.33526212142622325,-0.41485935158794746],[-0.17526211489819699,-0.3877392869701208]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.304974610606739,-1.8385121470784438,0.71338606911949],"aabb_xy":[[0.24998139926960228,-1.893512147417238],[0.3599678219438758,-1.7835121467396509]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.058095241434106826,-2.022150113225127,0.71338606911949],"aabb_xy":[[-0.13809524002142623,-2.1014657151632874],[0.021904757153212596,-1.9428345112869658]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[0.5762464805418896,-1.3021802324053091,0.71338606911949],"aabb_xy":[[0.5412464822311942,-1.3098952473288548],[0.6112464788525851,-1.2944652174817635]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[0.39183219302273553,0.5976087437534958,0.71338606911949],"aabb_xy":[[0.3845709454523281,0.5848217334899865],[0.39909344059314295,0.6103957540170054]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.12247142159974056,-2.273721219894565,0.71338606911949],"aabb_xy":[[0.03247142300527062,-2.2899718062079857],[0.2124714201942105,-2.257470633581143]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.002710998620667038,-0.8882045221864336,0.71338606911949],"aabb_xy":[[-0.02183521700208368,-0.9184534187354708],[0.027257214243417757,-0.8579556256373967]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[-0.17699355248892612,-2.3931534311421747,0.71338606911949],"aabb_xy":[[-0.21917796664975686,-2.457153431419386],[-0.13480913832809538,-2.3291534308649635]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[-0.5438142965021409,1.3052760383862494,0.71338606911949],"aabb_xy":[[-0.5813142971667195,1.2895889803860272],[-0.506314295837562,1.3209630963864716]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[-0.14073630150968008,0.37863928862413054,0.71338606911949],"aabb_xy":[[-0.17505257868429802,0.32863928865095277],[-0.10642002433506215,0.4286392885973082]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.006539716733588108,-2.45159483495833,0.71338606911949],"aabb_xy":[[-0.07653971314354989,-2.4720327706100114],[0.06346027967637367,-2.431156899306648]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[-0.3169042341187967,-1.0856418083071262,0.71338606911949],"aabb_xy":[[-0.39690423152239007,-1.1656343795053088],[-0.23690423671520325,-1.0056492371089432]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[0.18841450891883982,-1.3567523417662515,0.71338606911949],"aabb_xy":[[0.12341451076292073,-1.3830485863161635],[0.2534145070747589,-1.330456097216339]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[0.2057755579327195,1.0308383393618072,0.71338606911949],"aabb_xy":[[0.200876265626156,1.0031614200592383],[0.21067485023928298,1.0585152586643758]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_22","position":[0.6281712290535446,0.2230996502177942,0.71338606911949],"aabb_xy":[[0.5641712297593763,0.15911350984894004],[0.6921712283477127,0.2870857905866484]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[-0.5539102980253026,0.11260404447451133,0.71338606911949],"aabb_xy":[[-0.6339102951848777,0.1010564435166943],[-0.47391030086572716,0.12415164543232837]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.670407633824035,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9978.png","name":"9978"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9978.png","name":"9978"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/709.png","name":"709"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3900.png","name":"3900"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1506.png","name":"1506"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4906.png","name":"4906"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":827.1491856258,"rotation_z_degrees":356.21773566815045,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018229614600203805,-0.016167057618108938,0.009602486544456758]},{"name":"camera_2","offset_m":[0.0071199480483282035,0.011644945229649057,0.01720274766704089]},{"name":"camera_3","offset_m":[0.0015052484287893762,-0.013546901023524804,-0.011364160612136973]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007501240067632846,-0.0012332708536078431,0.0004952146080870177],"end_effector_yaw_offset_degrees":-0.9219162408049133},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00024065828426162285,0.001969849214575572,-0.0018652870460096804],"end_effector_yaw_offset_degrees":0.22626675921630723},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00012628454897606876,-0.0016126040953484072,0.0007443144922022029],"end_effector_yaw_offset_degrees":0.27740750946399517}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0032617588943418324,-0.0031899286685917495],"position_m":[0.3154617588943418,0.004710071331408251,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004634258330542833,-0.0027385861096257936],"position_m":[0.27076574166945716,-0.3111385861096258,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018001885947214811,0.004978905036460196],"position_m":[0.16429981140527852,0.3094789050364602,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003014745591305452,-0.002510586424719221],"position_m":[0.34098525440869454,0.1597894135752808,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"903d2cf004984d436b2c8da2312fd9775b533853829b3602b3d3d12a881cffb0","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0036.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9978/tex_ceiling_textures_4906/tex_floor_textures_1506/tex_table_textures_709/tex_wall_textures_3900","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":8603640319007477893,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":8603640319007477893,"visual_seed":8603640319007477893,"scene_id":"lab_003","finished_at":"2026-09-04T15:25:00"} +{"episode_id":"ep_000037","started_at":"2026-09-04T15:25:03","dimensions":{"distractor":{"count":20,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.5026211575068444,-2.1306678013764464,0.71338606911949],"aabb_xy":[[0.465121156714849,-2.1370356423346366],[0.5401211582988399,-2.124299960418256]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.3002069201700758,-1.4960702494740412,0.71338606911949],"aabb_xy":[[-0.3084214652857597,-1.5047468397716823],[-0.29199237505439174,-1.4873936591763997]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[-0.07850628857133435,1.7702245854156673,0.71338606911949],"aabb_xy":[[-0.11350628992281608,1.7498648494588462],[-0.04350628721985262,1.790584321372488]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[-0.16892211446728866,-2.0174249289948847,0.71338606911949],"aabb_xy":[[-0.1892064171906874,-2.0377075541375933],[-0.14863781174388987,-1.9971423038521756]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.45117856755735325,-2.1640842553137296,0.71338606911949],"aabb_xy":[[-0.4964571824385025,-2.2280842546619133],[-0.405899952676204,-2.100084255965546]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[-0.4501431949701408,0.6532017447792446,0.71338606911949],"aabb_xy":[[-0.5051354456056518,0.5982017430359319],[-0.39515094433462994,0.7082017465225574]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.5622816653568516,1.009056491945815,0.71338606911949],"aabb_xy":[[0.5518701066763678,1.0037107586099165],[0.5726932240373352,1.0144022252817133]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[0.45813730512441775,1.4134116680929663,0.71338606911949],"aabb_xy":[[0.4206373046270595,1.4094429845448477],[0.495637305621776,1.4173803516410848]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[0.37838304175628235,-1.864559130239553,0.71338606911949],"aabb_xy":[[0.34088304057148944,-1.868977352935613],[0.41588304294107503,-1.860140907543492]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[-0.019407047164792246,0.07886816541555541,0.71338606911949],"aabb_xy":[[-0.027443381866077084,0.07083004611113863],[-0.0113707124635074,0.0869062847199722]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[-0.1391398306719931,0.05854906059939635,0.71338606911949],"aabb_xy":[[-0.15176661795918944,0.04900298689782346],[-0.12651304338479674,0.06809513430096925]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.49079051684457226,0.9292951569337626,0.71338606911949],"aabb_xy":[[-0.5257905160373906,0.9183281109360999],[-0.455790517651754,0.9402622029314252]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.47107296602557014,-1.5165795198566858,0.71338606911949],"aabb_xy":[[0.41107296542955396,-1.5713919924019093],[0.5310729666215863,-1.4617670473114623]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.5715342509030314,-0.6417771464695079,0.71338606911949],"aabb_xy":[[-0.5816159579816049,-0.7217771443616225],[-0.561452543824458,-0.5617771485773932]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.18513034916085414,-0.8781493595392478,0.71338606911949],"aabb_xy":[[-0.25013034919515686,-0.9248500362195752],[-0.1201303491265514,-0.8314486828589206]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[-0.527526640098503,-1.9299254081407957,0.71338606911949],"aabb_xy":[[-0.5625266392284587,-1.9356706292164596],[-0.49252664096854737,-1.9241801870651314]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.00028959386396265607,-0.8013030782283859,0.71338606911949],"aabb_xy":[[-0.04969335632351667,-0.8513030778709461],[0.050272544051441985,-0.7513030785858252]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.2828300733411492,-1.0122518169812884,0.71338606911949],"aabb_xy":[[-0.30532920906737615,-1.0347518177595516],[-0.2603309376149222,-0.9897518162030257]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.18810308001754517,1.7239312796159694,0.71338606911949],"aabb_xy":[[0.183147059832664,1.701431279413848],[0.19305910020242642,1.7464312798180912]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[-0.007028884828971127,-1.4274120875946033,0.71338606911949],"aabb_xy":[[-0.02309081228748877,-1.5124120894071946],[0.009033042629546514,-1.342412085782011]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.673585812510141,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4330.png","name":"4330"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4330.png","name":"4330"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4088.png","name":"4088"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6535.png","name":"6535"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6175.png","name":"6175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/700.png","name":"700"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":659.9326289657849,"rotation_z_degrees":153.35706083328216,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006794378930336475,0.019474979874113525,-0.013197615349556959]},{"name":"camera_2","offset_m":[-0.0058699033015040085,0.01763769994732046,0.012944662545830685]},{"name":"camera_3","offset_m":[0.007139202056867119,-8.287549347146123e-05,-0.0024792311808837786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001933180934628599,0.00047504836988462515,-0.000754346144152001],"end_effector_yaw_offset_degrees":-0.24275211029314425},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014992869154591272,0.0019217628231333163,-0.0002048617087179929],"end_effector_yaw_offset_degrees":-0.5901272994516131},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000518785349960514,-0.001452341460716012,-0.0007872250676414149],"end_effector_yaw_offset_degrees":-0.34292873543447455}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024187075913166523,-0.0008643181894538565],"position_m":[0.30978129240868335,0.007035681810546144,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012939299693559957,0.001801037069154049],"position_m":[0.276693929969356,-0.306598962930846,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001139132118356909,-0.0029303036223609236],"position_m":[0.16496086788164308,0.3015696963776391,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004768520909592452,-0.004016972615064949],"position_m":[0.3392314790904075,0.15828302738493505,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"87f8e084fbe08a0b9bdddfbd7d74a59cb09b289b8500c02177afab0f88919457","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0037.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4330/tex_ceiling_textures_700/tex_floor_textures_6175/tex_table_textures_4088/tex_wall_textures_6535","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":2867775467188986866,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":2867775467188986866,"visual_seed":2867775467188986866,"scene_id":"lab_003","finished_at":"2026-09-04T15:27:53"} +{"episode_id":"ep_000038","started_at":"2026-09-04T15:27:56","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[0.20085992039924916,-2.0321670501141433,0.71338606911949],"aabb_xy":[[0.14573471476965835,-2.0921670515554296],[0.2559851260288399,-1.9721670486728555]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.5309965411858193,-0.07246110376885584,0.71338606911949],"aabb_xy":[[0.4810135909983399,-0.12246110341141625],[0.5809794913732985,-0.02246110412629544]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[0.0823091940113364,-2.3917347450446664,0.71338606911949],"aabb_xy":[[0.04853363482064342,-2.4057732402578313],[0.11608475320202936,-2.3776962498315015]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.18612471593827284,0.5490622092258808,0.71338606911949],"aabb_xy":[[0.18008770293760812,0.5430355081569327],[0.1921617289389376,0.5550889102948291]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.3358289974084277,1.3768494254500965,0.71338606911949],"aabb_xy":[[-0.34141066904255646,1.364349425632321],[-0.33024732577429894,1.389349425267872]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.24843341036793942,0.6805770774154798,0.71338606911949],"aabb_xy":[[0.23409898524177594,0.668516861860941],[0.2627678354941029,0.6926372929700186]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.43000140089295047,-0.6938918047071352,0.71338606911949],"aabb_xy":[[0.3995171507659203,-0.743891804488631],[0.4604856510199806,-0.6438918049256391]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[-0.3794459764152256,0.6803419641699704,0.71338606911949],"aabb_xy":[[-0.41292514367626654,0.6468628507988634],[-0.34596680915418465,0.7138210775410774]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.5906985391636674,1.4273903757309792,0.71338606911949],"aabb_xy":[[0.5256985381631669,1.376604010576304],[0.655698540164168,1.4781767408856539]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[-0.6278486357292816,-1.7556519527881833,0.71338606911949],"aabb_xy":[[-0.6878486359806828,-1.8099332778246477],[-0.5678486354778804,-1.7013706277517184]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[-0.16436464713207544,-0.9514692887275986,0.71338606911949],"aabb_xy":[[-0.22836464740605364,-1.0015353889248866],[-0.10036464685809718,-0.9014031885303108]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[0.4479262031513074,1.7254484803415209,0.71338606911949],"aabb_xy":[[0.43817021364213343,1.7156859462822864],[0.4576821926604812,1.7352110144007553]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.07116225695485057,0.7896971306466121,0.71338606911949],"aabb_xy":[[-0.12116225797398585,0.7532309149087842],[-0.02116225593571529,0.8261633463844401]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.09861877824836374,-2.558130981998877,0.71338606911949],"aabb_xy":[[0.08194164225526823,-2.5748309059728074],[0.11529591424145924,-2.541431058024947]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.03033990688711885,-2.2545742099638177,0.71338606911949],"aabb_xy":[[0.02549631212588888,-2.2594258624428023],[0.035183501648348825,-2.249722557484834]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[-0.05842785488876112,-2.095047237883142,0.71338606911949],"aabb_xy":[[-0.08342785405439423,-2.1019994835884988],[-0.033427855723128015,-2.0880949921777856]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[0.579581742549176,0.6227609165390011,0.71338606911949],"aabb_xy":[[0.4995817392913331,0.5427644087470173],[0.659581745807019,0.7027574243309852]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.14582720776075353,-1.2268835087231384,0.71338606911949],"aabb_xy":[[0.0908349571252426,-1.2818835104664514],[0.20081945839626453,-1.171883506979826]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[0.5600542791789491,-1.0585123424954614,0.71338606911949],"aabb_xy":[[0.5250542792829301,-1.0668865780074013],[0.5950542790749679,-1.0501381069835216]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.43796924385680497,0.3746566108491778,0.71338606911949],"aabb_xy":[[-0.4929624551939418,0.31965661051038424],[-0.3829760325196683,0.4296566111879715]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[-0.0683505231829733,1.7001957873166238,0.71338606911949],"aabb_xy":[[-0.1183505226231689,1.650227862832307],[-0.018350523742777666,1.7501637118009397]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.017863480707340562,-1.8201952904250618,0.71338606911949],"aabb_xy":[[-0.052136521101404876,-1.841549059189249],[0.087863482516086,-1.7988415216608742]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.2364940080827388,-2.5263866291296533,0.71338606911949],"aabb_xy":[[-0.27212316398269853,-2.5620192958865062],[-0.20086485218277908,-2.4907539623728003]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.11992058254293103,-0.7014453687874376,0.71338606911949],"aabb_xy":[[-0.16990481825110826,-0.7514453676009331],[-0.06993634683475382,-0.6514453699739419]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6726045335658266,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6433.png","name":"6433"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6433.png","name":"6433"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/305.png","name":"305"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6205.png","name":"6205"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1967.png","name":"1967"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3284.png","name":"3284"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":691.6834636079183,"rotation_z_degrees":201.3099075620934,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0029827627966383975,0.015669736642774563,0.003007961424490769]},{"name":"camera_2","offset_m":[-0.010977221792456509,-0.019322024219470824,0.010560305797746108]},{"name":"camera_3","offset_m":[-0.009797278328978795,0.009791361354366444,0.01565097092158443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006730389071608858,0.0007666625730071782,-0.0004028866858909535],"end_effector_yaw_offset_degrees":-0.8914452730916962},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016859274600296722,-0.0002481032237724734,0.00011493318284483845],"end_effector_yaw_offset_degrees":-0.6707078910091024},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006167382727935732,-0.0007665135238227139,0.0019085374400874692],"end_effector_yaw_offset_degrees":0.6002860530269558}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001179601124505725,0.0032971630582936196],"position_m":[0.31102039887549426,0.01119716305829362,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006915831935814477,8.259361459934684e-05],"position_m":[0.27470841680641855,-0.30831740638540067,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0025980448267148948,0.0010056928289806574],"position_m":[0.1635019551732851,0.30550569282898066,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025213295156890914,-0.0040430885772990656],"position_m":[0.3414786704843109,0.15825691142270093,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7782b3eb08469ffa5c5b28c831366fa6e9b2d557eaf54ba1c045a71854432192","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0038.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6433/tex_ceiling_textures_3284/tex_floor_textures_1967/tex_table_textures_305/tex_wall_textures_6205","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":8201079551310653019,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":8201079551310653019,"visual_seed":8201079551310653019,"scene_id":"lab_003","finished_at":"2026-09-04T15:30:29"} +{"episode_id":"ep_000039","started_at":"2026-09-04T15:30:32","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[0.4842307899705134,1.3499901095194975,0.71338606911949],"aabb_xy":[[0.4342307903941787,1.3000095305673918],[0.5342307895468481,1.3999706884716037]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[0.2053809501713294,-1.2409194122254967,0.71338606911949],"aabb_xy":[[0.1853225385580891,-1.2609844991346542],[0.2254393617845697,-1.2208543253163393]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[0.2174088272247744,0.7731621117561649,0.71338606911949],"aabb_xy":[[0.15340882652130508,0.7271437292832439],[0.2814088279282438,0.819180494229086]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.6146927095042695,-1.9086322923592638,0.71338606911949],"aabb_xy":[[-0.6646927108651566,-1.9586101969346796],[-0.5646927081433821,-1.8586543877838484]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.6595489109926194,1.104061448715857,0.71338606911949],"aabb_xy":[[-0.6741923165466522,1.0894027290590726],[-0.6449055054385863,1.118720168372641]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[-0.06527081440941551,1.7002645401851217,0.71338606911949],"aabb_xy":[[-0.11527081305533671,1.6503449965256591],[-0.015270815763494316,1.750184083844584]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[-0.47721215484157964,-2.1025355534975043,0.71338606911949],"aabb_xy":[[-0.5184609658714943,-2.1575355530097213],[-0.43596334381166485,-2.0475355539852864]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.34553456465771004,0.8574481030662682,0.71338606911949],"aabb_xy":[[-0.4255345668204725,0.7774929194401244],[-0.26553456249494756,0.9374032866924117]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[0.21312301560604918,-1.087239299476648,0.71338606911949],"aabb_xy":[[0.19525390785159366,-1.1010722074538588],[0.23099212336050465,-1.0734063914994372]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[0.39948004960497685,-1.2843035238197362,0.71338606911949],"aabb_xy":[[0.3890684909244931,-1.2896492571556344],[0.4098916082854605,-1.2789577904838376]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.31474043685654585,1.5114570864959664,0.71338606911949],"aabb_xy":[[0.3066127486632326,1.5025434780852585],[0.32286812504985907,1.520370694906674]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[-0.6719987948459918,-1.1648203858551378,0.71338606911949],"aabb_xy":[[-0.6768980871525553,-1.1924973051577064],[-0.6670995025394283,-1.1371434665525688]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[-0.6669446259359945,1.2784415928676989,0.71338606911949],"aabb_xy":[[-0.672526297570123,1.2659415930499234],[-0.6613629543018656,1.2909415926854744]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.2844891361188303,1.5019652175289573,0.71338606911949],"aabb_xy":[[-0.3344839690467719,1.4519652186337138],[-0.2344943031908887,1.5519652164242008]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.520220665871272,-0.20965377267857788,0.71338606911949],"aabb_xy":[[0.47022139070283586,-0.25965377395452505],[0.5702199410397082,-0.15965377140263073]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.5225336251413712,-1.29048760299535,0.71338606911949],"aabb_xy":[[0.5116931469148563,-1.3076738842859987],[0.5333741033678862,-1.273301321704701]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[-0.47589410704880375,-0.6546266720707294,0.71338606911949],"aabb_xy":[[-0.48725584170208985,-0.6659951384770174],[-0.46453237239551753,-0.6432582056644413]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.597572544676859,0.7302642260303882,0.71338606911949],"aabb_xy":[[-0.6063745999858318,0.722452899875459],[-0.5887704893678863,0.7380755521853172]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.027210641852518425,1.503338938498731,0.71338606911949],"aabb_xy":[[-0.06370646247979717,1.4668549960719734],[0.00928517877476032,1.5398228809254886]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.6004929543952153,0.6140522572683356,0.71338606911949],"aabb_xy":[[0.5104929549768443,0.5806767604241457],[0.6904929538135861,0.6474277541125252]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.11714661857615294,0.5809794125227752,0.71338606911949],"aabb_xy":[[-0.15464661886832776,0.5769379371221716],[-0.07964661828397811,0.5850208879233788]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.5373175422419572,0.10607459125499519,0.71338606911949],"aabb_xy":[[0.47331754294778905,0.04208845088614101],[0.6013175415361255,0.17006073162384938]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[0.29425152837534585,-1.3542661870816393,0.71338606911949],"aabb_xy":[[0.25675152802711804,-1.3660575826627228],[0.33175152872357355,-1.3424747915005557]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[-0.3748975081169566,-0.37959902699975334,0.71338606911949],"aabb_xy":[[-0.42489251907640874,-0.42959902603534517],[-0.32490249715750463,-0.3295990279641617]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.5505094559581121,-1.7036660281076308,0.71338606911949],"aabb_xy":[[-0.5730058773919762,-1.7261660279143782],[-0.528013034524248,-1.6811660283008834]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[-0.09925986369800299,-1.5739670158023085,0.71338606911949],"aabb_xy":[[-0.1492598646485358,-1.6055161628058299],[-0.049259862747470184,-1.542417868798787]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[0.19148903211821833,1.0376869626707004,0.71338606911949],"aabb_xy":[[0.15557552769322863,1.0017734544539456],[0.22740253654320802,1.0736004708874547]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_27","position":[0.08699589715758382,-0.7676025357570067,0.71338606911949],"aabb_xy":[[0.02299589547958647,-0.8161199272363209],[0.15099589883558118,-0.7190851442776924]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6784440082762676,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5531.png","name":"5531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5531.png","name":"5531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4792.png","name":"4792"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8067.png","name":"8067"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7485.png","name":"7485"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2687.png","name":"2687"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":786.6941790916337,"rotation_z_degrees":105.8353007512827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018522504302013684,0.019136881156323112,0.011277009827885414]},{"name":"camera_2","offset_m":[-0.001944823750372738,-0.014284658273693629,0.010317641440449967]},{"name":"camera_3","offset_m":[-0.005448977334082504,0.0008935244153748106,0.016682867584084205]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018470176714146355,0.0017620690211044318,-0.001166188258684028],"end_effector_yaw_offset_degrees":-0.868626567283189},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017270298368816381,-0.0004996067430248195,-0.00020027199770875363],"end_effector_yaw_offset_degrees":-0.62102776399126},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008093935767484006,0.0009471296560236756,0.0006547130448485996],"end_effector_yaw_offset_degrees":-0.4837916900322716}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00380605071906297,0.0014267710977076417],"position_m":[0.31600605071906296,0.009326771097707642,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003713552141968535,-0.004110840195130502],"position_m":[0.27911355214196854,-0.31251084019513053,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026134041234438373,0.002320993033518662],"position_m":[0.16871340412344382,0.3068209930335187,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004615140570057781,-0.0010471544788897072],"position_m":[0.3393848594299422,0.1612528455211103,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f53b0af6557ea562213dc7b680e114afa99678ad75c230ebd28fe11ce1d834be","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5531/tex_ceiling_textures_2687/tex_floor_textures_7485/tex_table_textures_4792/tex_wall_textures_8067","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5482989041332850224,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5482989041332850224,"visual_seed":5482989041332850224,"scene_id":"lab_003","finished_at":"2026-09-04T15:33:06"} +{"episode_id":"ep_000040","started_at":"2026-09-04T15:33:10","dimensions":{"distractor":{"count":33,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.5433001355948917,-2.496550147745774,0.71338606911949],"aabb_xy":[[-0.5806314121201344,-2.531203202540626],[-0.5059688590696492,-2.4618970929509216]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[-0.5037496011875701,0.05304648768960485,0.71338606911949],"aabb_xy":[[-0.5677496004817383,-0.010939652679249338],[-0.43974960189340184,0.11703262805845904]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[-0.22026060341364812,1.4168973626865635,0.71338606911949],"aabb_xy":[[-0.28426060379118173,1.367152095835751],[-0.1562606030361145,1.4666426295373756]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[0.6103504675121643,-1.4242342222245261,0.71338606911949],"aabb_xy":[[0.5999389088316804,-1.4295799555604243],[0.6207620261926479,-1.4188884888886275]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.6821638967882582,1.5829783090655094,0.71338606911949],"aabb_xy":[[-0.6901901674188842,1.5742268140881568],[-0.6741376261576322,1.591729804042862]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[-0.31601368575504185,-1.5038189486633207,0.71338606911949],"aabb_xy":[[-0.3535136861032696,-1.5156103442444042],[-0.2785136854068141,-1.4920275530822371]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.6485151616023064,-0.509328206395562,0.71338606911949],"aabb_xy":[[-0.6628495867284699,-0.5213884219501008],[-0.634180736476143,-0.49726799084102313]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[-0.5236280450876856,-1.0556334137418484,0.71338606911949],"aabb_xy":[[-0.5936280468964311,-1.0769871825060358],[-0.45362804327894024,-1.034279644977661]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.40159375446742906,1.7371240109946249,0.71338606911949],"aabb_xy":[[0.3365937565857813,1.6860003472880842],[0.4665937523490769,1.788247674701166]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[0.3744963079801855,-1.0664249804737507,0.71338606911949],"aabb_xy":[[0.367083852438797,-1.0722761908953786],[0.38190876352157394,-1.0605737700521227]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.5601193829413185,-0.443178670869977,0.71338606911949],"aabb_xy":[[0.5513173276323456,-0.450989997024906],[0.5689214382502911,-0.43536734471504784]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[0.47361870701314834,0.6085418778538823,0.71338606911949],"aabb_xy":[[0.4361187070693819,0.6002487878190457],[0.5111187069569147,0.6168349678887188]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.6022578146639246,1.296201630888132,0.71338606911949],"aabb_xy":[[-0.6372578160154062,1.2758418949313108],[-0.5672578133124427,1.3165613668449525]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[-0.1591881017109481,1.3008383173180422,0.71338606911949],"aabb_xy":[[-0.18168723743717508,1.2783383165397793],[-0.13668896598472113,1.3233383180963052]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.10424974239540963,-1.4953506803623335,0.71338606911949],"aabb_xy":[[0.04424974188755671,-1.5521974140482548],[0.16424974290326255,-1.4385039466764122]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[-0.26682361935319726,-1.2730878277177364,0.71338606911949],"aabb_xy":[[-0.3368236219897836,-1.293192692713602],[-0.19682361671661092,-1.252982962721871]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.025176755397831596,-2.425159013416889,0.71338606911949],"aabb_xy":[[-0.04267675565716822,-2.4392505556056623],[-0.007676755138494971,-2.411067471228117]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.22104921621980067,-0.5545878883311279,0.71338606911949],"aabb_xy":[[0.21734595489066183,-0.5582899066398457],[0.22475247754893957,-0.55088587002241]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[-0.13406228249247265,0.7494612616353975,0.71338606911949],"aabb_xy":[[-0.13797615568789517,0.7407122462288406],[-0.13014840929705013,0.7582102770419542]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.3777483931700376,-0.7803129093619909,0.71338606911949],"aabb_xy":[[0.34909906080962133,-0.8089584686390666],[0.4063977255304538,-0.751667350084915]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.04632219465667642,-2.175980321265405,0.71338606911949],"aabb_xy":[[-0.110317892051773,-2.2399803195661137],[0.017673502738420166,-2.1119803229646963]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[-0.5890729446119026,0.786242262776899,0.71338606911949],"aabb_xy":[[-0.5970669331896059,0.7782421826818086],[-0.5810789560341991,0.7942423428719892]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[-0.0446910119177949,-1.1118173733339638,0.71338606911949],"aabb_xy":[[-0.0671910124298355,-1.134309231699362],[-0.022191011405754295,-1.0893255149685652]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[-0.48562729792723214,1.5675389138268314,0.71338606911949],"aabb_xy":[[-0.5356265730956684,1.5175389125508845],[-0.4356280227587961,1.6175389151027788]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[-0.2891156569332179,0.1474546289459795,0.71338606911949],"aabb_xy":[[-0.35311566015185575,0.10073151704697114],[-0.22511565371458003,0.19417774084498785]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[0.2652746125892341,-1.3203691211010358,0.71338606911949],"aabb_xy":[[0.2551929055106606,-1.4003691189931502],[0.27535631966780755,-1.240369123208921]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[-0.2940864427396592,-2.0852204572727513,0.71338606911949],"aabb_xy":[[-0.34408644310022524,-2.135200444482354],[-0.24408644237909313,-2.035240470063148]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[-0.14494490172490315,-0.261602651739929,0.71338606911949],"aabb_xy":[[-0.1627384086598196,-0.2794023973357267],[-0.12715139478998672,-0.24380290614413136]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_28","position":[-0.5070922647592925,1.0312384559386039,0.71338606911949],"aabb_xy":[[-0.5720922647935952,0.9845377792582766],[-0.44209226472498975,1.0779391326189312]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_29","position":[-0.5749261938117362,-0.9419281063508527,0.71338606911949],"aabb_xy":[[-0.6449261902216977,-0.9623660420025343],[-0.5049261974017741,-0.9214901706991708]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_30","position":[-0.5072545101734123,-0.5471338344117038,0.71338606911949],"aabb_xy":[[-0.5872545134374254,-0.5606938667206172],[-0.42725450690939915,-0.5335738021027905]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_31","position":[-0.6312344781894582,-2.028696117481417,0.71338606911949],"aabb_xy":[[-0.6438371773265347,-2.0412915137062826],[-0.6186317790523818,-2.0161007212565516]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_32","position":[0.6628679238465442,-0.9102448402383378,0.71338606911949],"aabb_xy":[[0.6569013849058084,-0.916205984897702],[0.6688344627872799,-0.9042836955789739]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6721723366647011,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4000.png","name":"4000"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4000.png","name":"4000"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6269.png","name":"6269"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/157.png","name":"157"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9190.png","name":"9190"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4038.png","name":"4038"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":766.5160313364418,"rotation_z_degrees":50.59351321747051,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00710501839538368,0.01522025725361548,0.006362916236425743]},{"name":"camera_2","offset_m":[0.006616465375811988,0.0007109869561136295,0.015044329753527149]},{"name":"camera_3","offset_m":[0.0037573577050610887,-0.0009683757663179714,-0.012493765244350943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012324362416014211,-0.0017717224551970676,-0.0009818859461400847],"end_effector_yaw_offset_degrees":0.820645728044995},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.4317089225930266e-05,0.001956005904624072,-0.0001408772046105043],"end_effector_yaw_offset_degrees":0.3515168649348841},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011057706391646642,-0.0014474480597075914,0.001015994825328167],"end_effector_yaw_offset_degrees":0.45354291732395136}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003879130354562551,0.0025068961674433376],"position_m":[0.3083208696454374,0.01040689616744334,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010456575737100935,0.004428761611146575],"position_m":[0.2764456575737101,-0.3039712383888534,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004637700815070519,0.003461204790757239],"position_m":[0.1707377008150705,0.3079612047907572,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033006331012135097,-0.0004811503916552287],"position_m":[0.34069936689878644,0.16181884960834478,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"068c5ceed4cb7759987e12168cd1ff9904d68a3e9bb61873fc30920a9f994738","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0040.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4000/tex_ceiling_textures_4038/tex_floor_textures_9190/tex_table_textures_6269/tex_wall_textures_157","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5128846854193451482,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5128846854193451482,"visual_seed":5128846854193451482,"scene_id":"lab_003","finished_at":"2026-09-04T15:35:48"} +{"episode_id":"ep_000041","started_at":"2026-09-04T15:35:51","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.660837119832919,1.7672947647191068,0.71338606911949],"aabb_xy":[[0.6438270225428683,1.7511602762208327],[0.6778472171229696,1.7834292532173806]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.07294507069737866,0.740189272281905,0.71338606911949],"aabb_xy":[[-0.08115961581306261,0.7315126819842636],[-0.06473052558169465,0.7488658625795462]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[0.3838411460648521,-1.0911866003548572,0.71338606911949],"aabb_xy":[[0.3138411496548902,-1.1116245360065384],[0.4538411424748138,-1.070748664703175]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.6600496330157288,1.4544715631247782,0.71338606911949],"aabb_xy":[[-0.6646847481679621,1.4506042280476292],[-0.6554145178634954,1.4583388982019267]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[-0.12571639042565086,-0.18949879027928773,0.71338606911949],"aabb_xy":[[-0.18971639364428872,-0.23622190217829608],[-0.061716387207013,-0.14277567838027938]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[0.21969482597159684,1.5987075254595173,0.71338606911949],"aabb_xy":[[0.15569482268188872,1.5553726064555995],[0.28369482926130496,1.6420424444634347]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[-0.2857692577244519,0.9665064571098747,0.71338606911949],"aabb_xy":[[-0.2920813572607903,0.9607395178566559],[-0.27945715818811345,0.9722733963630935]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.1636511941922717,-1.194563804335377,0.71338606911949],"aabb_xy":[[0.14147866721562086,-1.2167394714915],[0.18582372116892254,-1.172388137179254]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[0.4953001413046776,-0.4985276649905668,0.71338606911949],"aabb_xy":[[0.41530014264779164,-0.5130325239148296],[0.5753001399615636,-0.484022806066304]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.6143569470973888,-0.8816085003897793,0.71338606911949],"aabb_xy":[[-0.6447550581965323,-0.9120154023914487],[-0.5839588359982452,-0.8512015983881097]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[0.09330264940193722,-2.1824865075404727,0.71338606911949],"aabb_xy":[[0.0036155730938217806,-2.2724865077949232],[0.18298972571005268,-2.092486507286022]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.055206680182070866,1.7532834158976027,0.71338606911949],"aabb_xy":[[-0.11920668252487243,1.70834256465347],[0.00879332216073069,1.798224267141735]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.6462083448390132,1.4725363686472694,0.71338606911949],"aabb_xy":[[0.5912346228026804,1.4175363690830365],[0.7011820668753461,1.5275363682115028]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[-0.45239055581889726,-0.7702346752826366,0.71338606911949],"aabb_xy":[[-0.4632963319064599,-0.8502346716814656],[-0.4414847797313345,-0.6902346788838073]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[-0.32220811259788995,0.5477576047419088,0.71338606911949],"aabb_xy":[[-0.353355031441473,0.47775760605510165],[-0.2910611937543068,0.617757603428716]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[-0.5701291395348207,0.8462439283846899,0.71338606911949],"aabb_xy":[[-0.5750851597197019,0.8237439281825685],[-0.5651731193499395,0.8687439285868117]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[0.3415931737077984,-1.4266098014975024,0.71338606911949],"aabb_xy":[[0.2915981627483464,-1.4766098005330939],[0.3915881846672505,-1.3766098024619104]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.636982260158757,1.250226757818408,0.71338606911949],"aabb_xy":[[-0.6414128895135973,1.2447783860837256],[-0.632551630803917,1.2556751295530906]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_18","position":[0.49638824604987764,-0.6443601592393136,0.71338606911949],"aabb_xy":[[0.44629078206880407,-0.7083601597491253],[0.5464857100309513,-0.5803601587295016]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.037908915951883504,-1.914993492255264,0.71338606911949],"aabb_xy":[[0.02003980819742801,-1.9288264002324749],[0.055778023706339,-1.9011605842780528]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.1085115238170622,-1.7115316081321492,0.71338606911949],"aabb_xy":[[0.058532715306746294,-1.761531608137868],[0.15849033232737808,-1.6615316081264304]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.14524497513456391,-1.700315313944381,0.71338606911949],"aabb_xy":[[-0.2092449771842959,-1.7404097970336891],[-0.08124497308483192,-1.6602208308550732]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[0.6589499523382856,-2.2807586998057627,0.71338606911949],"aabb_xy":[[0.6136713374571363,-2.3447586991539464],[0.7042285672194348,-2.216758700457579]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[-0.14380984044503187,-0.619442517662633,0.71338606911949],"aabb_xy":[[-0.19369253732272812,-0.6694425169089079],[-0.0939271435673357,-0.5694425184163584]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.17795758463589706,-1.1269487772923228,0.71338606911949],"aabb_xy":[[-0.19545751806988043,-1.1444487772125573],[-0.1604576512019137,-1.1094487773720882]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_25","position":[-0.47599702089872314,-2.39534510250984,0.71338606911949],"aabb_xy":[[-0.530997020520469,-2.450328795297313],[-0.4209970212769773,-2.3403614097223677]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6743246457144823,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9492.png","name":"9492"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9492.png","name":"9492"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1706.png","name":"1706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3873.png","name":"3873"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3166.png","name":"3166"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7589.png","name":"7589"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":715.336823850299,"rotation_z_degrees":235.19432841047765,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016382941480714706,0.004285411971511551,0.005426882434754306]},{"name":"camera_2","offset_m":[-0.004979249167619382,0.019581970701753344,0.01860245118445762]},{"name":"camera_3","offset_m":[0.018566046807194553,-0.003938207062093562,-0.005699600082267504]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00035059097629821633,-0.0009444162511839966,0.0004938997335354211],"end_effector_yaw_offset_degrees":0.8446548304198769},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003895880545129323,-0.0012262441520768056,2.257077853495479e-05],"end_effector_yaw_offset_degrees":0.434091413247536},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001513265559272772,-0.0018109595575207158,0.0002661727680719913],"end_effector_yaw_offset_degrees":0.5863190983977722}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0032984450481633896,-0.003948494292265673],"position_m":[0.3154984450481634,0.003951505707734328,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022603797603921597,0.002069129062653252],"position_m":[0.27766037976039215,-0.30633087093734673,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012845861102921633,0.003944529439264182],"position_m":[0.16738458611029217,0.30844452943926415,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004707799075687601,-0.001065286155433295],"position_m":[0.3392922009243124,0.1612347138445667,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"57ab901fe732e890fa13d713bbf6ca1fbb8ddb0c085afcb982e275a8a68e15a4","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0041.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9492/tex_ceiling_textures_7589/tex_floor_textures_3166/tex_table_textures_1706/tex_wall_textures_3873","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5251596177984950175,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5251596177984950175,"visual_seed":5251596177984950175,"scene_id":"lab_003","finished_at":"2026-09-04T15:38:31"} +{"episode_id":"ep_000042","started_at":"2026-09-04T15:38:35","dimensions":{"distractor":{"count":21,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[-0.38030348786756957,-2.0482074034535067,0.71338606911949],"aabb_xy":[[-0.3974055658259377,-2.065314208984777],[-0.3632014099092014,-2.0311005979222374]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[0.11447298838269027,-1.6807057676554478,0.71338606911949],"aabb_xy":[[0.10901504274567018,-1.7607057709631069],[0.11993093401971032,-1.6007057643477887]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[-0.6785889110648342,-2.2505950095082667,0.71338606911949],"aabb_xy":[[-0.6866151816954602,-2.2593465044856194],[-0.6705626404342082,-2.241843514530914]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.1945978324919343,-2.1176533173826573,0.71338606911949],"aabb_xy":[[-0.2170969682181613,-2.1401533181609205],[-0.17209869676570735,-2.095153316604394]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.17872870944009844,1.8168212164390165,0.71338606911949],"aabb_xy":[[0.14122870914792363,1.812779741038413],[0.21622870973227326,1.82086269183962]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.6444101119172388,0.5643365986467588,0.71338606911949],"aabb_xy":[[-0.6857146549809748,0.5003365990786417],[-0.6031055688535029,0.6283365982148759]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[-0.41010839157962026,-1.1387575182944836,0.71338606911949],"aabb_xy":[[-0.4181023801573236,-1.146757598389574],[-0.4021144030019168,-1.1307574381993932]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[-0.11273446222732364,-0.5723821618463405,0.71338606911949],"aabb_xy":[[-0.1627337373957598,-0.6223821631222877],[-0.06273518705888748,-0.5223821605703933]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.431677970761627,-2.4558916563230717,0.71338606911949],"aabb_xy":[[-0.46626905361567217,-2.5208916566081028],[-0.39708688790758173,-2.3908916560380407]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[0.5331959644203024,-2.2175114705718637,0.71338606911949],"aabb_xy":[[0.4691959679929806,-2.2646810943939606],[0.5971959608476244,-2.1703418467497677]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.3895307195044584,-2.555289464338824,0.71338606911949],"aabb_xy":[[0.3716616117500029,-2.569122372316035],[0.4073998272589139,-2.541456556361613]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.1508120631766824,-2.099734823467873,0.71338606911949],"aabb_xy":[[0.10083899764416693,-2.1497348232804065],[0.20078512870919787,-2.0497348236553408]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[-0.4547728458162946,1.7664255517470129,0.71338606911949],"aabb_xy":[[-0.48977284500911283,1.75545850574935],[-0.4197728466234763,1.777392597744675]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[-0.5110104695697175,-0.46522105095713595,0.71338606911949],"aabb_xy":[[-0.5910104675505025,-0.4728225919189879],[-0.4310104715889324,-0.457619509995284]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.4123716569167356,1.5468291495422037,0.71338606911949],"aabb_xy":[[-0.42987165605110267,1.536949522504616],[-0.3948716577823683,1.5567087765797916]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[-0.6083502075255668,-0.06569309204723606,0.71338606911949],"aabb_xy":[[-0.6535215253737359,-0.1296930891917745],[-0.5631788896773979,-0.0016930949026976454]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[0.6617068325503463,0.5354943389366453,0.71338606911949],"aabb_xy":[[0.6439133256154299,0.5176945933408477],[0.6795003394852628,0.553294084532443]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[-0.035097047472592235,0.5637862561573987,0.71338606911949],"aabb_xy":[[-0.04666602821952881,0.538786256040467],[-0.02352806672565566,0.5887862562743305]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[0.5989900615908457,-1.0130769080367157,0.71338606911949],"aabb_xy":[[0.5489900612302795,-1.0630568952463186],[0.6489900619514116,-0.9630969208271128]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.4266085868332898,-0.8593334938201751,0.71338606911949],"aabb_xy":[[-0.44351931926963156,-0.8728056994127895],[-0.409697854396948,-0.8458612882275605]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[0.6621435729975957,-1.6935922886011827,0.71338606911949],"aabb_xy":[[0.6005528137736029,-1.7575922867102296],[0.7237343322215886,-1.6295922904921358]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6758753576248263,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1456.png","name":"1456"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1456.png","name":"1456"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4412.png","name":"4412"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2040.png","name":"2040"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9412.png","name":"9412"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9137.png","name":"9137"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":832.2556242797777,"rotation_z_degrees":358.2770309153633,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009644865102344177,-0.0035417755511492795,-0.0178671329067892]},{"name":"camera_2","offset_m":[0.01610674277601892,0.006764327904438042,-0.004648968045488205]},{"name":"camera_3","offset_m":[-0.005375442327660766,-0.012861203507179396,-0.009838324255733655]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007734679614036016,-0.0008484506619398453,-0.00016434848400475937],"end_effector_yaw_offset_degrees":0.5503427171942612},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00021533577315239853,-0.00026680312491850254,-0.001028326686022734],"end_effector_yaw_offset_degrees":0.47962618185659345},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005331808719983818,-0.001587126982962718,0.0012509560969745249],"end_effector_yaw_offset_degrees":0.43516066288612487}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003258972502587258,0.0022241498571724527],"position_m":[0.31545897250258725,0.010124149857172453,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014556916337535829,-0.002885144300727437],"position_m":[0.27685569163375356,-0.31128514430072746,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002482790038666161,0.003119071541984527],"position_m":[0.16858279003866616,0.30761907154198453,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017794054079995647,0.0015246767805250161],"position_m":[0.3422205945920004,0.163824676780525,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"95ca80c00b2e946b8b81cb0a94cd37526c8b5e44f19616010ec86bfd3fb4c19f","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1456/tex_ceiling_textures_9137/tex_floor_textures_9412/tex_table_textures_4412/tex_wall_textures_2040","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3512242214748159039,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3512242214748159039,"visual_seed":3512242214748159039,"scene_id":"lab_003","finished_at":"2026-09-04T15:41:07"} +{"episode_id":"ep_000043","started_at":"2026-09-04T15:41:11","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[0.03505850626105689,1.1729109568647393,0.71338606911949],"aabb_xy":[[0.02960056062403682,1.09291095355708],[0.040516451898076955,1.2529109601723982]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.5999618968478435,-0.04217746856055049,0.71338606911949],"aabb_xy":[[0.5844061274375784,-0.05772790180495769],[0.6155176662581089,-0.0266270353161433]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.3995201895142784,1.2984485474310472,0.71338606911949],"aabb_xy":[[-0.46352019021774776,1.2524301649581262],[-0.33552018881080903,1.3444669299039682]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[0.642285500139208,-0.972725345041664,0.71338606911949],"aabb_xy":[[0.6139557901906679,-0.977186087235381],[0.6706152100877484,-0.9682646028479469]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[0.5728422122371342,-1.9568672487344094,0.71338606911949],"aabb_xy":[[0.5632105760167045,-1.9665045615141186],[0.5824738484575638,-1.9472299359547007]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.6267790594226095,0.5607775021774666,0.71338606911949],"aabb_xy":[[0.6197376084718619,0.5537507504396719],[0.6338205103733571,0.567804253915261]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.5172621704529091,-0.6346565106199373,0.71338606911949],"aabb_xy":[[-0.5872621668628707,-0.6550944462716188],[-0.44726217404294716,-0.6142185749682554]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[0.3954893019026391,-1.8833140801095474,0.71338606911949],"aabb_xy":[[0.3154893044990456,-1.9633066513077302],[0.47548929930623246,-1.8033215089113646]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.1634594032581863,-2.317062212658654,0.71338606911949],"aabb_xy":[[-0.17952133071670395,-2.402062214471245],[-0.14739747579966866,-2.2320622108460615]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[-0.14843117315513,1.3630893715948953,0.71338606911949],"aabb_xy":[[-0.18191034041617093,1.3296102582237883],[-0.11495200589408905,1.3965684849660023]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.4560172522439112,-0.9088484861330388,0.71338606911949],"aabb_xy":[[0.4010172526221654,-0.9638321789205115],[0.511017251865657,-0.8538647933455661]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[-0.11039940603356346,-1.4378670355902472,0.71338606911949],"aabb_xy":[[-0.12789940627861285,-1.4553668234298138],[-0.09289940578851408,-1.4203672477506801]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[-0.616115754205301,-2.1243900305855146,0.71338606911949],"aabb_xy":[[-0.666108866314493,-2.1743900312597106],[-0.5661226420961092,-2.0743900299113194]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.01838859984931751,-2.5322914698766135,0.71338606911949],"aabb_xy":[[-0.05216415904001048,-2.5463299650897784],[0.015386959341375461,-2.5182529746634486]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.23248100817822892,-2.485326152648598,0.71338606911949],"aabb_xy":[[0.1708902489542361,-2.549326150757645],[0.29407176740222174,-2.421326154539551]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.49122283545839024,-1.355335628013807,0.71338606911949],"aabb_xy":[[-0.5000040626056266,-1.3641153753023374],[-0.4824416083111541,-1.3465558807252769]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.3528970646191671,1.4712423657784872,0.71338606911949],"aabb_xy":[[-0.41689706499670065,1.421497098927675],[-0.2888970642416334,1.5209876326292995]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[-0.23785297975473085,-1.0119674650083956,0.71338606911949],"aabb_xy":[[-0.2728529780654263,-1.0196824799319413],[-0.2028529814440354,-1.00425245008485]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.21893922118928322,1.7906841310468162,0.71338606911949],"aabb_xy":[[0.1814392226136624,1.7779478353832578],[0.256439219764904,1.8034204267103737]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.497058568375517,0.5977969727227119,0.71338606911949],"aabb_xy":[[-0.5610585705959241,0.5534238885974236],[-0.43305856615511,0.6421700568480002]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.5673805330367929,-0.33885691815020547,0.71338606911949],"aabb_xy":[[0.5435443153961879,-0.428856918958692],[0.591216750677398,-0.248856917341719]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6713999800443394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5121.png","name":"5121"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5121.png","name":"5121"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6892.png","name":"6892"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8223.png","name":"8223"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/840.png","name":"840"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5939.png","name":"5939"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":530.7563003857191,"rotation_z_degrees":329.59093407163544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007718987756801705,0.001317470556832373,0.017198751108095964]},{"name":"camera_2","offset_m":[-0.008741839105216798,-0.010309950405564905,-0.004061195459645714]},{"name":"camera_3","offset_m":[0.005522551900378387,-0.004187524808066646,0.0009500424895403856]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000981928795558743,0.0011911346437388846,-0.0005170417685172804],"end_effector_yaw_offset_degrees":-0.48580560501918013},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003923826667149477,0.0003164162808279589,-0.0005501065393077559],"end_effector_yaw_offset_degrees":0.009234632177237412},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015162435595157452,-0.0006354558435170299,-0.0011538785750620413],"end_effector_yaw_offset_degrees":0.9251170632297532}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024093057676580444,0.00238385793037082],"position_m":[0.30979069423234196,0.01028385793037082,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003935087160085128,0.0033028064511807552],"position_m":[0.27500649128399146,-0.30509719354881926,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003974587541411958,0.0022264957961284273],"position_m":[0.17007458754141194,0.30672649579612843,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023428158382283494,-0.001185545769469696],"position_m":[0.34634281583822835,0.1611144542305303,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7367f032117ed002b5dcf5ad16e3a5fd6ae5cf28b2fe23acdc82f0436ff62cf7","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5121/tex_ceiling_textures_5939/tex_floor_textures_840/tex_table_textures_6892/tex_wall_textures_8223","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":7206371027294680583,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":7206371027294680583,"visual_seed":7206371027294680583,"scene_id":"lab_003","finished_at":"2026-09-04T15:43:29"} +{"episode_id":"ep_000044","started_at":"2026-09-04T15:43:32","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.2501517094492595,1.0865302667240027,0.71338606911949],"aabb_xy":[[-0.2593115883931361,1.0799990486804658],[-0.24099183050538292,1.09306148476754]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.336128525735696,-0.8069187084094647,0.71338606911949],"aabb_xy":[[-0.3564128284590947,-0.8272013335521735],[-0.3158442230122972,-0.7866360832667558]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[0.6338050115212055,-2.015565181078627,0.71338606911949],"aabb_xy":[[0.6229645332946906,-2.0327514623692755],[0.6446454897477204,-1.9983788997879781]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[0.5436959053439703,-1.8521975527932955,0.71338606911949],"aabb_xy":[[0.5198596877033652,-1.9421975536017824],[0.5675321229845753,-1.7621975519848094]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.5199283054665522,-0.20667244608250668,0.71338606911949],"aabb_xy":[[0.4825970289413095,-0.241325500877359],[0.5572595819917947,-0.17201939128765437]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[0.1363176210582181,1.278788682815931,0.71338606911949],"aabb_xy":[[0.1254660148093425,1.2679293920882797],[0.1471692273070937,1.2896479735435817]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[-0.5350127712337778,-1.5740065549763838,0.71338606911949],"aabb_xy":[[-0.5390909291408275,-1.5780875352246473],[-0.5309346133267281,-1.5699255747281207]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[-0.02604490632699652,-0.9135709535043683,0.71338606911949],"aabb_xy":[[-0.03781309312165405,-0.99857095340959],[-0.014276719532339003,-0.8285709535991469]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.24936264729997237,-0.6719533771055572,0.71338606911949],"aabb_xy":[[0.19438892526363952,-0.7269533766697904],[0.30433636933630526,-0.6169533775413241]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.3293387441027546,0.12780759076118686,0.71338606911949],"aabb_xy":[[-0.3445016170796917,0.1126421334660681],[-0.3141758711258175,0.14297304805630562]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.018990341940896216,-2.1994593354548875,0.71338606911949],"aabb_xy":[[-0.031107122040177407,-2.2634593359646993],[0.06908780592196984,-2.1354593349450757]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[0.43862083926678164,-0.6247769204509714,0.71338606911949],"aabb_xy":[[0.3836253614461222,-0.6797769218848783],[0.49361631708744097,-0.5697769190170644]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.09213464521239956,-1.241822350043826,0.71338606911949],"aabb_xy":[[-0.1561346424980482,-1.2833290689966699],[-0.02813464792675091,-1.200315631090982]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[-0.49128864407607775,0.24245238200155228,0.71338606911949],"aabb_xy":[[-0.5812886434944486,0.20907688515736253],[-0.4012886446577068,0.275827878845742]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.16056930307693784,0.6675466854590959,0.71338606911949],"aabb_xy":[[-0.17824493366553615,0.6498664691796932],[-0.14289367248833948,0.6852269017384987]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[-0.1315035650807359,1.0151376792221085,0.71338606911949],"aabb_xy":[[-0.13963125327404913,1.006224070811401],[-0.12337587688742269,1.0240512876328165]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.2618541205793229,1.3354116407120529,0.71338606911949],"aabb_xy":[[-0.30685412204555174,1.2904117838505722],[-0.21685411911309405,1.3804114975735335]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.4361751349015548,0.38628565026325123,0.71338606911949],"aabb_xy":[[0.35617513749796126,0.30629307906506836],[0.516175132305148,0.466278221461434]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[-0.048416988698341656,0.4486441332889268,0.71338606911949],"aabb_xy":[[-0.08341699004982339,0.428284397332106],[-0.013416987346859926,0.46900386924574766]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.17743742213840508,-0.8333861737613324,0.71338606911949],"aabb_xy":[[-0.2227160370195543,-0.897386173109516],[-0.1321588072572558,-0.7693861744131486]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.03761611255657371,-2.363402894353055,0.71338606911949],"aabb_xy":[[-0.0876161112024949,-2.4133224380125173],[0.012383886089347484,-2.3134833506935926]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[-0.4168005959263255,-0.12322814165159102,0.71338606911949],"aabb_xy":[[-0.48080059509609546,-0.1699948287705535],[-0.35280059675655556,-0.07646145453262856]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6736630714455548,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1060.png","name":"1060"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1060.png","name":"1060"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4404.png","name":"4404"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4802.png","name":"4802"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3113.png","name":"3113"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8456.png","name":"8456"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":816.8693026033386,"rotation_z_degrees":31.154312784106473,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014890072838681677,0.019316536294888813,-0.011773960914250937]},{"name":"camera_2","offset_m":[0.00113225693635996,0.003629751571901891,0.016829773305149568]},{"name":"camera_3","offset_m":[0.017681863925704016,-0.013523651094755708,0.018579191986783598]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[1.7005469611039783e-05,0.0009521254525513838,-0.001252088499163754],"end_effector_yaw_offset_degrees":-0.0596167773397096},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015764584698360338,0.0012093902602904531,0.0005200492321255751],"end_effector_yaw_offset_degrees":0.43826794248030954},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.1845910381313215e-05,-0.0012615869293655275,0.0010192164284436069],"end_effector_yaw_offset_degrees":0.85914393716865}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005830254558517826,0.0040914466368957405],"position_m":[0.31278302545585174,0.01199144663689574,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001012112053580979,0.0010810033022159923],"position_m":[0.27641211205358096,-0.307318996697784,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002173002514030776,0.003902076713438069],"position_m":[0.16392699748596923,0.30840207671343806,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00010356127429819728,0.0024690546706045945],"position_m":[0.3441035612742982,0.1647690546706046,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cbb71674d7ae55eed31eece98b62ee86edfe405a361970e2b0bcc8fb94466c54","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0044.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1060/tex_ceiling_textures_8456/tex_floor_textures_3113/tex_table_textures_4404/tex_wall_textures_4802","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":8490531026409402260,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":8490531026409402260,"visual_seed":8490531026409402260,"scene_id":"lab_003","finished_at":"2026-09-04T15:46:01"} +{"episode_id":"ep_000045","started_at":"2026-09-04T15:46:04","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.4575126752405098,-2.1550200730407725,0.71338606911949],"aabb_xy":[[-0.49251267513652874,-2.163394308552712],[-0.422512675344491,-2.146645837528832]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.04282716874559045,-1.0013684082718648,0.71338606911949],"aabb_xy":[[-0.050530359419667485,-1.0090777789706027],[-0.0351239780715134,-0.9936590375731268]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.5786757983885427,-1.132501249910256,0.71338606911949],"aabb_xy":[[0.5561766626623157,-1.155001250688519],[0.6011749341147696,-1.110001249131993]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.03930753373335394,-1.1551713525652718,0.71338606911949],"aabb_xy":[[-0.10330753399382475,-1.2001801519181996],[0.024692466527116864,-1.1101625532123436]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.3436445023576855,1.2635881896078205,0.71338606911949],"aabb_xy":[[-0.35293812059483604,1.2260881911196866],[-0.3343508841205349,1.3010881880959544]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.31355504099844106,0.6869111151123177,0.71338606911949],"aabb_xy":[[-0.34855504019125927,0.6759440691146549],[-0.27855504180562274,0.6978781611099801]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.5963297868357342,-1.6177336356818293,0.71338606911949],"aabb_xy":[[-0.6309208696897793,-1.6827336359668603],[-0.5617387039816889,-1.5527336353967982]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[-0.5038760102745254,1.4424007886539152,0.71338606911949],"aabb_xy":[[-0.528876009826264,1.4322583047887802],[-0.47887601072278707,1.4525432725190497]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[0.6955888908196364,1.2864969458451747,0.71338606911949],"aabb_xy":[[0.688345124773391,1.2064969476415723],[0.7028326568658817,1.366496944048777]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[-0.11656105958411156,0.3166553570958017,0.71338606911949],"aabb_xy":[[-0.12384337596077519,0.22665535348629265],[-0.10927874320744788,0.4066553607053106]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.5692009371600957,-1.8022502889409275,0.71338606911949],"aabb_xy":[[-0.6042009354707911,-1.8099653038644732],[-0.5342009388494002,-1.7945352740173819]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[-0.013515453681959944,-1.5803877623529525,0.71338606911949],"aabb_xy":[[-0.026746399216641237,-1.5936151813749517],[-0.00028450814727864863,-1.5671603433309529]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[-0.41922640526141014,0.03411892858204135,0.71338606911949],"aabb_xy":[[-0.48322640731114214,-0.005975554507266612],[-0.35522640321167814,0.07421341167134932]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.031148263677721943,1.5482237486323158,0.71338606911949],"aabb_xy":[[-0.033851736356580786,1.5015230719519885],[0.09614826371202467,1.5949244253126431]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.5220151290551887,-0.23243147860997748,0.71338606911949],"aabb_xy":[[-0.5670151305214176,-0.27743133547145815],[-0.4770151275889599,-0.1874316217484968]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.13182064209325017,-0.9072632495432302,0.71338606911949],"aabb_xy":[[0.11402713515833374,-0.9250629951390278],[0.1496141490281666,-0.8894635039474325]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[0.13035772872251894,1.660423929927488,0.71338606911949],"aabb_xy":[[0.1148019593122537,1.6448734966830811],[0.14591349813278423,1.6759743631718955]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.6147845042807674,-2.5075228101601645,0.71338606911949],"aabb_xy":[[-0.6560890473445034,-2.5715228097282816],[-0.5734799612170314,-2.4435228105920475]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[-0.15350058092581798,1.1340871178301195,0.71338606911949],"aabb_xy":[[-0.1647456364964358,1.122845320106024],[-0.14225552535520014,1.1453289155542146]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.6609616581598712,-1.3679962500959912,0.71338606911949],"aabb_xy":[[0.653337390069693,-1.375629473632535],[0.6685859262500495,-1.3603630265594475]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[0.6608526068364682,-2.0102389105243623,0.71338606911949],"aabb_xy":[[0.6545405073001298,-2.0160058497775806],[0.6671647063728066,-2.004471971271143]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.0471964054926004,0.6680547823528467,0.71338606911949],"aabb_xy":[[-0.08063658068862,0.6346111565219164],[-0.013756230296580794,0.7014984081837765]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_22","position":[0.37092612870963104,0.9159899789938035,0.71338606911949],"aabb_xy":[[0.32967731767971625,0.8609899794815861],[0.4121749397395457,0.970989978506021]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.06861960514199972,-0.294567831583473,0.71338606911949],"aabb_xy":[[-0.08553033757834148,-0.30804003717608747],[-0.05170887270565793,-0.2810956259908584]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[-0.32618741075371643,-0.6704258113981414,0.71338606911949],"aabb_xy":[[-0.4061812343322747,-0.750425813990983],[-0.24619358717515827,-0.5904258088052998]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[-0.5731774299574615,-0.7980991574819716,0.71338606911949],"aabb_xy":[[-0.6431774325940477,-0.8182040224778371],[-0.503177427320875,-0.7779942924861061]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_26","position":[-0.3067662876337052,1.5129144288615852,0.71338606911949],"aabb_xy":[[-0.33176628679933834,1.5059621831562287],[-0.2817662884680721,1.5198666745669418]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[-0.29101734058516254,-1.5075178820878852,0.71338606911949],"aabb_xy":[[-0.29905367528644733,-1.515556001392302],[-0.28298100588387765,-1.4994797627834684]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[0.42461709414707927,-2.2132860449954546,0.71338606911949],"aabb_xy":[[0.4071170950127121,-2.223165672033042],[0.44211709328144644,-2.2034064179578663]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_29","position":[-0.288170954375317,-2.5134301680309377,0.71338606911949],"aabb_xy":[[-0.34316416571245373,-2.5684301683697313],[-0.23317774303818023,-2.458430167692144]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_30","position":[0.3365838098369762,-0.7675660392686146,0.71338606911949],"aabb_xy":[[0.31990667384388066,-0.7842659632425448],[0.35326094583007167,-0.7508661152946843]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_31","position":[0.4771074225100205,1.0657432354671945,0.71338606911949],"aabb_xy":[[0.4551987403706694,1.0438425686471036],[0.49901610464937146,1.087643902287285]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6740769870287178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2757.png","name":"2757"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2757.png","name":"2757"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7681.png","name":"7681"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8861.png","name":"8861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3016.png","name":"3016"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5054.png","name":"5054"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":815.1523446662459,"rotation_z_degrees":184.77747537571764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004808665755426204,-0.01958423270248653,0.01592984623706088]},{"name":"camera_2","offset_m":[0.0037694968872779046,0.010288454461597471,-0.003393888570060514]},{"name":"camera_3","offset_m":[0.0014833857174796176,0.004844564359516662,-0.016062230660258407]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00045487011321635774,0.000715099029748928,-0.0014390474353886706],"end_effector_yaw_offset_degrees":-0.7874181455276397},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013445334356950679,0.001235256077893545,-6.633733871724032e-05],"end_effector_yaw_offset_degrees":-0.24869265807137464},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011316291376123862,-0.001748868827596351,-0.0019858309623342805],"end_effector_yaw_offset_degrees":0.7907617440167234}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038618858945318494,0.0007027439623613838],"position_m":[0.3160618858945318,0.008602743962361385,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015230319651645418,-0.004706719579404289],"position_m":[0.2738769680348354,-0.3131067195794043,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00414191389208308,-0.0026079056040353367],"position_m":[0.16195808610791693,0.30189209439596465,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0046109060799469,0.001235467000643321],"position_m":[0.33938909392005306,0.1635354670006433,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eb66958c0e58b4d6283a1d78b01969e1eabfe21811f73d1a246ad41293e7e4f4","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2757/tex_ceiling_textures_5054/tex_floor_textures_3016/tex_table_textures_7681/tex_wall_textures_8861","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3488216085999617591,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3488216085999617591,"visual_seed":3488216085999617591,"scene_id":"lab_003","finished_at":"2026-09-04T15:48:59"} +{"episode_id":"ep_000046","started_at":"2026-09-04T15:49:02","dimensions":{"distractor":{"count":29,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[-0.048718654446005205,0.7460185507804717,0.71338606911949],"aabb_xy":[[-0.07118342441741032,0.7235185499016112],[-0.02625388447460008,0.7685185516593322]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[0.36510247455379763,1.3681482012750217,0.71338606911949],"aabb_xy":[[0.301106777158701,1.304148202974313],[0.42909817194889416,1.4321481995757304]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_2","position":[0.6368366382935875,-2.346573262093153,0.71338606911949],"aabb_xy":[[0.5828210420116875,-2.4105732649854104],[0.6908522345754875,-2.282573259200896]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[-0.318975909615145,-0.6616644198563162,0.71338606911949],"aabb_xy":[[-0.3839759074967929,-0.7127880835628572],[-0.25397591173349726,-0.6105407561497754]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.5561239068320103,-0.9222617645563893,0.71338606911949],"aabb_xy":[[0.5322876891914053,-1.012261765364876],[0.5799601244726155,-0.8322617637479031]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[0.47778007270975675,0.7805451248069697,0.71338606911949],"aabb_xy":[[0.38778007620888494,0.7346334823885114],[0.5677800692106284,0.8264567672254279]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.6316795487558378,0.8610558242214683,0.71338606911949],"aabb_xy":[[-0.6769581636369869,0.7970558248732846],[-0.5864009338746884,0.925055823569652]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[-0.3277544779290439,-1.2709267584228,0.71338606911949],"aabb_xy":[[-0.35275447709467705,-1.2778790041281565],[-0.30275447876341083,-1.2639745127174433]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.4529408694546124,-2.5568689177442727,0.71338606911949],"aabb_xy":[[0.43044086894257183,-2.5793607761096706],[0.475440869966653,-2.534377059378874]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.4299475132406281,-0.18938366469103363,0.71338606911949],"aabb_xy":[[0.42583156312855536,-0.1934992197238791],[0.4340634633527007,-0.1852681096581881]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.2283513573279526,-0.29097849505643225,0.71338606911949],"aabb_xy":[[-0.26281370472609433,-0.32547237745425484],[-0.19388900992981076,-0.25648461265860945]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.0579969244019487,1.333031656654819,0.71338606911949],"aabb_xy":[[0.03582439742529786,1.310855989498696],[0.08016945137859954,1.355207323810942]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.613847442544311,-1.455360422656315,0.71338606911949],"aabb_xy":[[0.5640306630794762,-1.5053604211406184],[0.6636642220091458,-1.4053604241720117]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[0.3860752068608817,-2.4200105956812243,0.71338606911949],"aabb_xy":[[0.30607520984663367,-2.440145147354635],[0.46607520387512963,-2.399876044007813]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.19920220025939445,0.24458885057116664,0.71338606911949],"aabb_xy":[[-0.22785153261981062,0.21594329129409082],[-0.17055286789897817,0.27323440984824243]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.4180322884895026,0.3514088242256044,0.71338606911949],"aabb_xy":[[-0.4260686231907874,0.3433707049211876],[-0.40999595378821774,0.35944694353002116]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.5138445206459397,0.7030498843927044,0.71338606911949],"aabb_xy":[[-0.5226465759549124,0.6952385582377751],[-0.505042465336967,0.7108612105476333]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[0.11643155054266985,-1.0330271125792747,0.71338606911949],"aabb_xy":[[0.03270932504258739,-1.1230271161139707],[0.2001537760427523,-0.9430271090445788]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[-0.6786561736254866,1.3872652965174868,0.71338606911949],"aabb_xy":[[-0.6868707187411703,1.3785887062198452],[-0.6704416285098024,1.3959418868151279]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.49136409271732057,1.2280125823730241,0.71338606911949],"aabb_xy":[[-0.5553640930948541,1.1782673155222119],[-0.42736409233978684,1.2777578492238364]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[0.5809066003666306,-0.07230034586627987,0.71338606911949],"aabb_xy":[[0.5744049638586259,-0.08206816789258965],[0.5874082368746352,-0.06253252383997011]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.49637306296212036,-0.5136778784677403,0.71338606911949],"aabb_xy":[[0.4658888128350902,-0.5636778782492362],[0.5268573130891505,-0.4636778786862443]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.11381638017685147,-2.071026728722301,0.71338606911949],"aabb_xy":[[-0.1938163812499718,-2.0808047750596854],[-0.03381637910373114,-2.0612486823849165]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[0.061749117994254865,-1.9706478507385772,0.71338606911949],"aabb_xy":[[0.03723549389724901,-1.9949124440406139],[0.08626274209126072,-1.946383257436541]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.26512853081715837,-1.7759278565722136,0.71338606911949],"aabb_xy":[[0.24725942306270288,-1.7897607645494245],[0.28299763857161386,-1.7620949485950028]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[-0.3328549339473281,0.20392734256640965,0.71338606911949],"aabb_xy":[[-0.3789400252020596,0.1399273453138545],[-0.28676984269259664,0.2679273398189647]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.6556400821139272,0.050453532889445984,0.71338606911949],"aabb_xy":[[-0.6902311649679722,-0.01454646739558507],[-0.6210489992598818,0.11545353317447703]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_27","position":[-0.1017021386700897,1.0181750402268221,0.71338606911949],"aabb_xy":[[-0.10583799500278991,0.9806750407824651],[-0.09756628233738952,1.0556750396711791]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_28","position":[0.19932292182293543,-1.6681045717994525,0.71338606911949],"aabb_xy":[[0.16369376592297571,-1.7037372385563054],[0.2349520777228952,-1.6324719050425995]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700648145628578,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7144.png","name":"7144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7144.png","name":"7144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7606.png","name":"7606"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9004.png","name":"9004"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8146.png","name":"8146"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9196.png","name":"9196"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":626.8158659448844,"rotation_z_degrees":132.4679572204741,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017806059256179077,0.001885356728890019,0.007399516228572673]},{"name":"camera_2","offset_m":[-0.01805708717838366,0.016149947103324565,-0.0045718837968886875]},{"name":"camera_3","offset_m":[-0.0038583957184817053,-0.01873629958589529,0.006709338157491026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000815390531735988,-0.0009132142992188132,-0.00027171032974968685],"end_effector_yaw_offset_degrees":0.9240537378885427},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018644775491767959,-0.000718726094336593,-0.0014616292944446615],"end_effector_yaw_offset_degrees":-0.46096396423015906},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009073375943562318,0.0013304816783313907,-0.0005835863314567456],"end_effector_yaw_offset_degrees":0.16578460369163772}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001300496473195874,0.00396559760055176],"position_m":[0.31350049647319583,0.01186559760055176,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034434277259435997,0.0002896190068490236],"position_m":[0.2719565722740564,-0.30811038099315097,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018127736164056107,0.0014676066175437173],"position_m":[0.1679127736164056,0.3059676066175437,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004216625814254058,0.0034237979548101443],"position_m":[0.3435783374185746,0.16572379795481015,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae3a3ad56f3d5f2c64bba9206752109d74630d22a95555d6259e822f6e3b1fe5","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7144/tex_ceiling_textures_9196/tex_floor_textures_8146/tex_table_textures_7606/tex_wall_textures_9004","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":8230808917503992707,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":8230808917503992707,"visual_seed":8230808917503992707,"scene_id":"lab_003","finished_at":"2026-09-04T15:51:44"} +{"episode_id":"ep_000047","started_at":"2026-09-04T15:51:49","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.04000551114409534,-2.2270362556250465,0.71338606911949],"aabb_xy":[[0.01478467428425567,-2.252260006477933],[0.065226348003935,-2.201812504772159]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[-0.09490550415906673,0.4346824403809202,0.71338606911949],"aabb_xy":[[-0.15890550650186827,0.38974158913678764],[-0.030905501816265165,0.47962329162505263]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[0.13414786137851775,1.3801626394501665,0.71338606911949],"aabb_xy":[[0.12615437158323572,1.3721645075096909],[0.14214135117379978,1.388160771390642]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.024062845613072703,-1.338530526720811,0.71338606911949],"aabb_xy":[[-0.03093715258867213,-1.3790524933472483],[0.07906284381481753,-1.2980085600943732]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.441207918676225,-1.6566908736436687,0.71338606911949],"aabb_xy":[[0.361207918402618,-1.7296404214693855],[0.521207918949832,-1.583741325817952]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.6445323374156338,0.3841705001973348,0.71338606911949],"aabb_xy":[[0.638495324414969,0.3781437991283867],[0.6505693504162985,0.3901972012662831]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[-0.21412155018742368,-2.472504216251653,0.71338606911949],"aabb_xy":[[-0.2781215494815919,-2.536490356620507],[-0.15012155089325546,-2.4085180758827986]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.15924141108181777,0.22221581938823398,0.71338606911949],"aabb_xy":[[-0.1783537184397966,0.20308104051099196],[-0.14012910372383888,0.241350598265476]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.22240015000109342,-1.6321783928200093,0.71338606911949],"aabb_xy":[[-0.3024001469641326,-1.7092540344637828],[-0.14240015303805426,-1.5551027511762359]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[-0.18745305368758058,0.053607135076394474,0.71338606911949],"aabb_xy":[[-0.19881478834086674,0.04223866867010639],[-0.17609131903429442,0.06497560148268255]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[-0.35403377350420906,-2.021604095325351,0.71338606911949],"aabb_xy":[[-0.4440337758382281,-2.0990864499104633],[-0.26403377117019,-1.944121740740238]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.34020557341710433,0.9976479460672576,0.71338606911949],"aabb_xy":[[-0.4202055720739904,0.983143087142995],[-0.2602055747602184,1.0121528049915207]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[-0.3215412755784338,-0.7531777220868094,0.71338606911949],"aabb_xy":[[-0.33908797049455275,-0.7906777236510607],[-0.3039945806623149,-0.7156777205225582]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[-0.5855125680185331,-1.4841838760853328,0.71338606911949],"aabb_xy":[[-0.6240582608437342,-1.5227296471415215],[-0.5469668751933321,-1.445638105029144]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[-0.5547331044267458,-2.093950729863584,0.71338606911949],"aabb_xy":[[-0.5922331047189207,-2.0979922052641875],[-0.517233104134571,-2.08990925446298]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.6464759671914677,1.3038199810989455,0.71338606911949],"aabb_xy":[[0.5824759639728299,1.2570968691999374],[0.7104759704101056,1.350543092997954]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.40098994200708704,0.4669597984518701,0.71338606911949],"aabb_xy":[[0.38836315471989064,0.4574137247502972],[0.41361672929428334,0.476505872153443]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[-0.5418195363036633,-1.7741178818535457,0.71338606911949],"aabb_xy":[[-0.5466631310648933,-1.77896953433253],[-0.5369759415424333,-1.7692662293745618]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[-0.5212541597297544,1.4657840495479575,0.71338606911949],"aabb_xy":[[-0.6012541601999704,1.4574733419336094],[-0.4412541592595385,1.474094757162306]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.3412455874443001,1.2684243319887663,0.71338606911949],"aabb_xy":[[0.33321931681367417,1.2596728370114136],[0.34927185807492617,1.2771758269661189]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.5808401912063126,-2.336650366986236,0.71338606911949],"aabb_xy":[[-0.6033049611777176,-2.3591503678650962],[-0.5583754212349074,-2.3141503661073752]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_21","position":[0.036756051076386576,-1.9442540512174376,0.71338606911949],"aabb_xy":[[0.014259629642522476,-1.9667540510241852],[0.059252472510250676,-1.9217540514106903]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[-0.3886354792623837,1.1348010676222167,0.71338606911949],"aabb_xy":[[-0.4786354829393017,1.073368661045112],[-0.2986354755854654,1.1962334741993208]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[0.058599690879934996,1.2093644248740905,0.71338606911949],"aabb_xy":[[0.04930607264278442,1.1718644263859566],[0.06789330911708558,1.2468644233622244]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_24","position":[0.2091478068210244,-0.700016935115841,0.71338606911949],"aabb_xy":[[0.17468532880793664,-0.7066806122987638],[0.24361028483411218,-0.6933532579329181]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_25","position":[0.5587705358896846,-1.8692974215988336,0.71338606911949],"aabb_xy":[[0.5212705373140637,-1.8820337172623915],[0.5962705344653053,-1.8565611259352757]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_26","position":[0.5526475658038768,0.9647186543682302,0.71338606911949],"aabb_xy":[[0.536585638345359,0.8797186525556384],[0.5687094932623943,1.049718656180822]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[0.5628604089865841,0.5919648344822148,0.71338606911949],"aabb_xy":[[0.5128774587991046,0.5419648348396542],[0.6128433591740633,0.641964834124775]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[-0.6328867593443336,-2.529843459884548,0.71338606911949],"aabb_xy":[[-0.6697373072813211,-2.5673434607075816],[-0.5960362114073459,-2.492343459061514]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_29","position":[0.22673750854433516,1.3447126244022036,0.71338606911949],"aabb_xy":[[0.2173200339744724,1.3352964472644846],[0.2361549831141979,1.3541288015399227]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6721787103144262,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1884.png","name":"1884"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1884.png","name":"1884"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2669.png","name":"2669"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3086.png","name":"3086"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2195.png","name":"2195"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8065.png","name":"8065"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":554.9381658995824,"rotation_z_degrees":253.01898882517068,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005211355809017522,0.009893487974169123,-0.006298598501499102]},{"name":"camera_2","offset_m":[-0.012297234544071275,0.017365893440618212,0.010573292538975952]},{"name":"camera_3","offset_m":[-0.005555230267834435,-0.013268201293643367,-0.0009828205441018804]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.71281114552124e-06,0.0017178278730193937,0.0006674253607991303],"end_effector_yaw_offset_degrees":-0.22354425017628676},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003189181665964212,-0.001372170087472009,0.001613543637221014],"end_effector_yaw_offset_degrees":-0.7196547031236185},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001161655109723962,0.0010894016270468075,-0.0005856982723025843],"end_effector_yaw_offset_degrees":-0.029747202801741812}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004012957116491092,-0.004859315050466669],"position_m":[0.3081870428835089,0.0030406849495333314,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007383270326748971,0.0009217431502648969],"position_m":[0.2746616729673251,-0.3074782568497351,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022044945655425164,0.0019031368993003926],"position_m":[0.1638955054344575,0.3064031368993004,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025593037229076077,-0.0014086788129483484],"position_m":[0.3414406962770924,0.16089132118705166,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26306ed6e2b99c88b8f44487792f503c7320e2c81604e577dff292682c54bea5","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0047.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1884/tex_ceiling_textures_8065/tex_floor_textures_2195/tex_table_textures_2669/tex_wall_textures_3086","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5506327543830705838,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5506327543830705838,"visual_seed":5506327543830705838,"scene_id":"lab_003","finished_at":"2026-09-04T15:54:23"} +{"episode_id":"ep_000048","started_at":"2026-09-04T15:54:25","dimensions":{"distractor":{"count":34,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[0.27072420481855086,-1.4340827403129808,0.71338606911949],"aabb_xy":[[0.2332242041539722,-1.4497697983132027],[0.30822420548312957,-1.4183956823127584]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.021862143605484552,-2.003066147344468,0.71338606911949],"aabb_xy":[[-0.06462885048490474,-2.06706615076627],[0.02090456327393564,-1.9390661439226653]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.12808456524913114,-0.6223920673665784,0.71338606911949],"aabb_xy":[[-0.13612792517508632,-0.7073920684619448],[-0.12004120532317597,-0.5373920662712119]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[0.17501377368112558,-1.9822156908013748,0.71338606911949],"aabb_xy":[[0.14979293682128592,-2.0074394416542614],[0.20023461054096525,-1.956991939948488]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.5564026527578145,-0.4152236914588059,0.71338606911949],"aabb_xy":[[0.5189026524656397,-0.4192651668594095],[0.5939026530499893,-0.41118221605820227]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.6421520142529011,-0.12289843224297314,0.71338606911949],"aabb_xy":[[0.6341156795516163,-0.1309365515473899],[0.650188348954186,-0.11486031293855634]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[0.49982017624452935,-1.0157331890987003,0.71338606911949],"aabb_xy":[[0.48214454565593096,-1.0334134053781028],[0.5174958068331276,-0.9980529728192974]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[0.27489807866332905,-1.7143852737739196,0.71338606911949],"aabb_xy":[[0.2644865199828453,-1.7197310071098177],[0.2853096373438127,-1.709039540438021]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.24995849255343344,1.0977443658337234,0.71338606911949],"aabb_xy":[[-0.2718482401423742,1.007744368544474],[-0.22806874496449264,1.1877443631229723]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.576004335232616,1.5814398367219131,0.71338606911949],"aabb_xy":[[-0.5815860068667446,1.5689398369041376],[-0.5704226635984871,1.5939398365396886]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.026553735941084344,0.8893622151257974,0.71338606911949],"aabb_xy":[[-0.05716848955899812,0.7993622115911013],[0.1102759614411668,0.9793622186604932]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.3175636849027112,0.9527645436569907,0.71338606911949],"aabb_xy":[[-0.3284152911515868,0.9419052529293396],[-0.3067120786538356,0.9636238343846416]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.513973507390977,0.9466711812428379,0.71338606911949],"aabb_xy":[[0.44997351099540384,0.8827078928241042],[0.57797350378655,1.0106344696615714]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.12974477060408807,1.7433045677281576,0.71338606911949],"aabb_xy":[[0.11264269264571991,1.7261977621968876],[0.14684684856245622,1.760411373259427]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[0.6257300471039997,0.5567716696048164,0.71338606911949],"aabb_xy":[[0.5907300472079808,0.5483974340928764],[0.6607300470000186,0.5651459051167563]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.527978629157658,-1.951522837064545,0.71338606911949],"aabb_xy":[[0.4829786276914293,-1.996522693926026],[0.572978630623887,-1.9065229802030648]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[0.08200832844817252,1.4702766009495067,0.71338606911949],"aabb_xy":[[0.0508614096045894,1.4002766022626996],[0.11315524729175563,1.540276599636314]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.06713420143846638,-1.816580926773815,0.71338606911949],"aabb_xy":[[-0.0949792382190735,-1.8473654255121266],[-0.039289164657859255,-1.7857964280355032]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[-0.40731288591153103,-0.22369417413948733,0.71338606911949],"aabb_xy":[[-0.47131288321387743,-0.2680606011073441],[-0.34331288860918463,-0.17932774717163058]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.36790810838444826,-0.8256426725538313,0.71338606911949],"aabb_xy":[[-0.4379081099867278,-0.839075465755489],[-0.29790810678216884,-0.8122098793521738]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[-0.37454623937783244,-1.2081106969107986,0.71338606911949],"aabb_xy":[[-0.3936585467358113,-1.2272454757880407],[-0.35543393201985357,-1.1889759180335566]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[-0.4547274145963728,-0.670673736342962,0.71338606911949],"aabb_xy":[[-0.4619711806426181,-0.7506737345465644],[-0.44748364855012746,-0.5906737381393596]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[0.16339429949799544,-1.8762739132076414,0.71338606911949],"aabb_xy":[[0.1482221302163621,-1.8914427701358452],[0.17856646877962878,-1.8611050562794385]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[-0.5910407794651614,-1.1175397755854752,0.71338606911949],"aabb_xy":[[-0.6550407801686308,-1.1635581580583967],[-0.5270407787616921,-1.0715213931125547]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_24","position":[-0.6113340457479698,0.7057933705938426,0.71338606911949],"aabb_xy":[[-0.661334047108857,0.655815466018427],[-0.5613340443870826,0.7557712751692582]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[-0.22392969482721004,-1.1889724367494998,0.71338606911949],"aabb_xy":[[-0.23708094079849945,-1.2139724365061866],[-0.21077844885592073,-1.1639724369928135]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[-0.3003531464765072,0.4027218064080893,0.71338606911949],"aabb_xy":[[-0.3073945974272548,0.39569505467029475],[-0.2933116955257596,0.40974855814588385]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_27","position":[0.3365484657565325,1.5462895617887322,0.71338606911949],"aabb_xy":[[0.3236765622555923,1.466289561374896],[0.3494203692574726,1.6262895622025684]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[0.6801563767524932,-0.9360304182085064,0.71338606911949],"aabb_xy":[[0.6626563776181259,-0.9459100452460941],[0.6976563758868602,-0.9261507911709185]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_29","position":[-0.6589290264426185,-0.547331420459658,0.71338606911949],"aabb_xy":[[-0.6686850159517923,-0.5570939545188923],[-0.6491730369334445,-0.5375688864004234]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_30","position":[-0.06969691045816861,-0.7881435759487325,0.71338606911949],"aabb_xy":[[-0.08053738868468352,-0.8053298572393813],[-0.05885643223165371,-0.7709572946580837]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_31","position":[0.4653228884569851,1.2228017135933098,0.71338606911949],"aabb_xy":[[0.3803228897649104,1.190815850198431],[0.5503228871490597,1.2547875769881887]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_32","position":[-0.3646854163767266,-1.5393746378607236,0.71338606911949],"aabb_xy":[[-0.3996854155695448,-1.550341683858386],[-0.32968541718390826,-1.5284075918630606]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_33","position":[-0.44752193381624805,-1.9242101666543237,0.71338606911949],"aabb_xy":[[-0.49751504592544005,-1.9742101673285195],[-0.3975288217070563,-1.8742101659801282]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67338311402202,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9317.png","name":"9317"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9317.png","name":"9317"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/800.png","name":"800"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7404.png","name":"7404"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3187.png","name":"3187"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":551.7248876775712,"rotation_z_degrees":334.0396166132016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017936842814001496,0.01384672469208571,-0.01967114388561177]},{"name":"camera_2","offset_m":[-0.016194883129802058,0.011170243371083678,0.011492990830616823]},{"name":"camera_3","offset_m":[0.013537481426399222,0.009007955437781181,-0.009504953017606722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008476307202404283,0.000815500225412658,0.0012007261736371373],"end_effector_yaw_offset_degrees":0.050041580006636055},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003141867648261147,-0.0014233100500856072,0.001577861726124479],"end_effector_yaw_offset_degrees":-0.7667220177318848},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009345307271248601,0.00010284386371036888,3.882560997535639e-05],"end_effector_yaw_offset_degrees":-0.6713055064950126}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004603616464397252,0.0022587768773141385],"position_m":[0.3075963835356027,0.01015877687731414,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00018626165927165556,8.634718672890455e-05],"position_m":[0.27558626165927164,-0.3083136528132711,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002523096357658049,0.001012287557546219],"position_m":[0.16357690364234195,0.3055122875575462,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027861490754065,-0.0045571775585039245],"position_m":[0.3412138509245935,0.15774282244149607,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d26b80a3ffe43e9d2b4cd2761c5b2d8140a1d3a340235bf0be09d241d944303","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9317/tex_ceiling_textures_3187/tex_floor_textures_7404/tex_table_textures_6903/tex_wall_textures_800","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5494698725128567993,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5494698725128567993,"visual_seed":5494698725128567993,"scene_id":"lab_003","finished_at":"2026-09-04T15:57:03"} +{"episode_id":"ep_000049","started_at":"2026-09-04T15:57:06","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.43943033139241144,0.3519740203938131,0.71338606911949],"aabb_xy":[[-0.45258157736370086,0.3269740206371266],[-0.42627908542112214,0.37697402015049974]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[-0.016419690411812682,-1.908166253260288,0.71338606911949],"aabb_xy":[[-0.08041538780690927,-1.9721662515609966],[0.0475760069832839,-1.8441662549595792]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.278917421879353,-2.0562777279334803,0.71338606911949],"aabb_xy":[[-0.2915442091665493,-2.0658238016350534],[-0.26629063459215657,-2.046731654231907]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[0.19934899512872206,1.2852919855013445,0.71338606911949],"aabb_xy":[[0.1913227244980961,1.2765404905239919],[0.2073752657593481,1.294043480478697]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.41623587680179186,-1.3842886447843794,0.71338606911949],"aabb_xy":[[-0.43291301279488736,-1.4009885687583097],[-0.39955874080869636,-1.3675887208104491]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.3234747080550187,1.057703447363349,0.71338606911949],"aabb_xy":[[-0.4134747077781929,1.034630094828169],[-0.23347470833184455,1.0807767998985287]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[-0.3372472418581003,-0.5340577948597582,0.71338606911949],"aabb_xy":[[-0.3697089427400277,-0.5641906269746607],[-0.3047855409761728,-0.5039249627448555]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[-0.49499123490473634,-0.4285898136391242,0.71338606911949],"aabb_xy":[[-0.504408709474599,-0.4380059907768432],[-0.4855737603348736,-0.41917363650140516]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.6326171686873983,-2.123163598210889,0.71338606911949],"aabb_xy":[[0.6238151133784254,-2.130974924365818],[0.6414192239963709,-2.1153522720559597]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[0.47068295011866623,1.587687427393632,0.71338606911949],"aabb_xy":[[0.38068294644174794,1.526255020816527],[0.5606829537955843,1.6491198339707358]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[0.48433188333611676,-2.2450622362495323,0.71338606911949],"aabb_xy":[[0.46999745820995326,-2.257122451804071],[0.49866630846228016,-2.2330020206949928]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[0.5178746448775189,0.5146059721090022,0.71338606911949],"aabb_xy":[[0.46274943924792805,0.4546059706677151],[0.5729998505071096,0.5746059735502893]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[0.6323822044514027,1.635131164599708,0.71338606911949],"aabb_xy":[[0.6230351968691075,1.6208275423820642],[0.6417292120336979,1.6494347868173522]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.604577547053721,-2.452906515516817,0.71338606911949],"aabb_xy":[[-0.6099151227197256,-2.4779065164459566],[-0.5992399713877165,-2.427906514587677]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.503398244706097,-1.8892872124069844,0.71338606911949],"aabb_xy":[[0.479562027065492,-1.9792872132154713],[0.5272344623467021,-1.7992872115984984]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[-0.10448648714727515,-0.1788678739352454,0.71338606911949],"aabb_xy":[[-0.14198648781185386,-0.19455493193546755],[-0.06698648648269645,-0.16318081593502318]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[0.40290095958016714,0.904997306794582,0.71338606911949],"aabb_xy":[[0.3896700140454858,0.8917698877725825],[0.4161319051148484,0.9182247258165813]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.27475017910066096,-1.0947549891424075,0.71338606911949],"aabb_xy":[[-0.33475017935206214,-1.1490363141788722],[-0.2147501788492598,-1.0404736641059429]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_18","position":[-0.21765067197751997,-1.4109328984781533,0.71338606911949],"aabb_xy":[[-0.2677481359585936,-1.4749328989879649],[-0.16755320799644632,-1.3469328979683413]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.5586284187208697,0.47446741427281935,0.71338606911949],"aabb_xy":[[-0.6039070336020189,0.4104674149246357],[-0.5133498038397204,0.538467413621003]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[-0.07238643675310519,-2.440850680038662,0.71338606911949],"aabb_xy":[[-0.07869853628944362,-2.4466176192918807],[-0.06607433721676675,-2.4350837407854433]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[0.1910736239363915,-1.0713919022672764,0.71338606911949],"aabb_xy":[[0.1735736248020243,-1.081271529304864],[0.20857362307075863,-1.0615122752296884]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[0.49839854529332395,0.7434508178217718,0.71338606911949],"aabb_xy":[[0.4679142951662938,0.6934508180402759],[0.5288827954203541,0.7934508176032677]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[-0.23550013738560371,0.4289524286391395,0.71338606911949],"aabb_xy":[[-0.25317576797420205,0.4112722123597367],[-0.21782450679700538,0.4466326449185422]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_24","position":[0.23596877212258627,-1.7007989228721216,0.71338606911949],"aabb_xy":[[0.2246070374693001,-1.7121673892784097],[0.24733050677587243,-1.6894304564658336]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[0.047529353129225016,-2.377016561836105,0.71338606911949],"aabb_xy":[[0.013232442111484388,-2.411313448046046],[0.08182626414696564,-2.3427196756261632]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6722808007349476,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6272.png","name":"6272"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6272.png","name":"6272"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2142.png","name":"2142"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3511.png","name":"3511"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9070.png","name":"9070"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5744.png","name":"5744"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":783.304156933111,"rotation_z_degrees":169.4664711257635,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012533817002126715,0.004246231296158868,0.0006991156662100734]},{"name":"camera_2","offset_m":[0.013918797199628973,-0.015716868361405446,0.011233064978108304]},{"name":"camera_3","offset_m":[0.011624051655289357,-0.0019621094640359833,-0.01248631155043145]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016955750996515261,-0.0016082562023096414,-0.0009045317015450097],"end_effector_yaw_offset_degrees":-0.4355545724417147},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018368678828653104,0.000772887796593639,0.001433748381453854],"end_effector_yaw_offset_degrees":-0.43742793677588265},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019339434506829175,-8.871606144952838e-05,0.0018863551988240307],"end_effector_yaw_offset_degrees":0.25919257126030293}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038805238236197777,-0.003437171638538945],"position_m":[0.31608052382361973,0.004462828361461056,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000829946371220274,0.0005207269767179383],"position_m":[0.27457005362877973,-0.30787927302328205,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0042532329640078475,0.003558238179860523],"position_m":[0.17035323296400784,0.3080582381798605,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006817666997702568,-0.002579765454584532],"position_m":[0.34468176669977024,0.15972023454541548,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea3684a67dfb88f72b019637d67343591f5666c9b826ff849edbbfc5d82be10f","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6272/tex_ceiling_textures_5744/tex_floor_textures_9070/tex_table_textures_2142/tex_wall_textures_3511","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":552210010963646233,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":552210010963646233,"visual_seed":552210010963646233,"scene_id":"lab_003","finished_at":"2026-09-04T15:59:47"} +{"episode_id":"ep_000050","started_at":"2026-09-04T15:59:50","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.5853760587808337,-2.1974370823203446,0.71338606911949],"aabb_xy":[[0.581297900873784,-2.201518062568608],[0.5894542166878833,-2.193356102072081]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.24801800048944833,-1.1257888613540907,0.71338606911949],"aabb_xy":[[-0.27051442192331243,-1.1482888611608382],[-0.2255215790555842,-1.1032888615473433]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.5781912716215913,-0.02174132633945325,0.71338606911949],"aabb_xy":[[0.572096643733473,-0.030310720891121967],[0.5842858995097097,-0.01317193178778453]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.30355719061241504,-2.1795096975682675,0.71338606911949],"aabb_xy":[[0.2395571903384368,-2.2295757977655555],[0.36755719088639327,-2.1294435973709795]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[0.6393933797741138,-0.3337855614626406,0.71338606911949],"aabb_xy":[[0.5753933774313122,-0.3787264127067731],[0.7033933821169154,-0.2888447102185081]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[0.6041093363197083,-2.3416234431833294,0.71338606911949],"aabb_xy":[[0.5613426294402881,-2.405623446605132],[0.6468760431991285,-2.277623439761527]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[0.4300814056993969,1.714665369415561,0.71338606911949],"aabb_xy":[[0.4081916581104561,1.624665372126312],[0.4519711532883377,1.8046653667048103]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.21120116094173902,-0.1722127058549856,0.71338606911949],"aabb_xy":[[-0.21989912323245436,-0.18433768016246033],[-0.20250319865102379,-0.16008773154751088]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[-0.2705784723113473,1.2772254369748621,0.71338606911949],"aabb_xy":[[-0.30106272243837745,1.2272254371933662],[-0.24009422218431714,1.327225436756358]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.05475303714260504,-1.0955246793057944,0.71338606911949],"aabb_xy":[[-0.10972675917893793,-1.1505246788700276],[0.00022068489372783356,-1.0405246797415613]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.3049026248458046,1.572841929006556,0.71338606911949],"aabb_xy":[[-0.33990262315650005,1.5651269140830104],[-0.26990262653510916,1.5805569439301017]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[0.19645689109409348,-1.9576060135686915,0.71338606911949],"aabb_xy":[[0.1803949636355758,-2.0426060153812826],[0.2125188185526111,-1.8726060117560994]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[0.3470521543476788,-0.7027750589823278,0.71338606911949],"aabb_xy":[[0.33580709877706094,-0.7140168567064231],[0.3582972099182966,-0.6915332612582326]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.07204423473022226,-0.9463793443970638,0.71338606911949],"aabb_xy":[[-0.1055234019912632,-0.9798584577681708],[-0.03856506746918132,-0.9129002310259569]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[-0.40134829257814725,0.21750477172209548,0.71338606911949],"aabb_xy":[[-0.41877900765715365,0.20023265705824467],[-0.3839175774991406,0.2347768863859463]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[0.13349877620714634,-1.2125157374168682,0.71338606911949],"aabb_xy":[[0.12469672089817362,-1.220327063571797],[0.14230083151611903,-1.204704411261939]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[0.6599694470044817,-1.8869382344988797,0.71338606911949],"aabb_xy":[[0.6099961530012212,-1.9369382350534265],[0.7099427410077421,-1.8369382339443319]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[-0.5272557268535133,-2.038388307809699,0.71338606911949],"aabb_xy":[[-0.5450492337884296,-2.0561880534054966],[-0.5094622199185967,-2.0205885622139013]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[0.3051328282846142,-0.8152120251137835,0.71338606911949],"aabb_xy":[[0.24013282732748695,-0.8671602370474891],[0.37013282924174135,-0.763263813180078]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.6092271640759517,1.5376151205902606,0.71338606911949],"aabb_xy":[[0.5292271608181087,1.4576186127982764],[0.6892271673337946,1.6176116283822444]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.6916330777097641,-0.13251007001247395,0.71338606911949],"aabb_xy":[[0.6604861588661809,-0.20251006869928112],[0.7227799965533471,-0.06251007132566677]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[-0.36257329533936006,-1.01678829814327,0.71338606911949],"aabb_xy":[[-0.3698345429097675,-1.0295753084067796],[-0.3553120477689527,-1.0040012878797606]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[-0.23040922310843837,-0.7853814345580059,0.71338606911949],"aabb_xy":[[-0.26540922137855827,-0.7924555622529941],[-0.19540922483831843,-0.7783073068630177]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6761327564507196,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9241.png","name":"9241"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9241.png","name":"9241"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5270.png","name":"5270"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8407.png","name":"8407"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3454.png","name":"3454"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2890.png","name":"2890"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":641.4357003220856,"rotation_z_degrees":334.8858591962791,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015614978940616253,-0.008803298569620685,-0.008452202403671763]},{"name":"camera_2","offset_m":[-0.008157066118943677,-0.019019764860215914,0.012439819885162687]},{"name":"camera_3","offset_m":[0.002695503696039138,0.01205790659964252,-0.0010689835489273679]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001031856783792993,0.001460847352229691,2.1204414842597268e-06],"end_effector_yaw_offset_degrees":-0.9288108440858909},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017158470415134736,-0.0009799606318673555,0.0011328590695187197],"end_effector_yaw_offset_degrees":0.056336524689410084},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013893342741486282,0.0006744496788537724,0.0007740516727781678],"end_effector_yaw_offset_degrees":-0.7730682418903041}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005759240828093395,-0.002743943997024776],"position_m":[0.31162407591719066,0.005156056002975225,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002391905881894388,-0.001635936296346644],"position_m":[0.27779190588189434,-0.3100359362963466,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001248921855717915,-0.001944578238954674],"position_m":[0.16734892185571792,0.30255542176104533,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011149564483396305,0.002458569383181096],"position_m":[0.3451149564483396,0.1647585693831811,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ebcef35c2f1789442ff0f6b79261818851d604abd7389bc6b47e5b92c64d4969","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9241/tex_ceiling_textures_2890/tex_floor_textures_3454/tex_table_textures_5270/tex_wall_textures_8407","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5713584156334347756,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5713584156334347756,"visual_seed":5713584156334347756,"scene_id":"lab_003","finished_at":"2026-09-04T16:02:36"} +{"episode_id":"ep_000051","started_at":"2026-09-04T16:02:40","dimensions":{"distractor":{"count":32,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.31948164872846463,-1.811908418441325,0.71338606911949],"aabb_xy":[[0.30791266798152805,-1.8369084185582567],[0.3310506294754012,-1.7869084183243933]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.21545867407814978,1.009487446705431,0.71338606911949],"aabb_xy":[[0.13545867081413665,0.9959274143965176],[0.2954586773421629,1.0230474790143442]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.6839271194799128,-2.4053598943359304,0.71338606911949],"aabb_xy":[[-0.691970479405868,-2.4903598954312964],[-0.6758837595539576,-2.3203598932405636]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.48113424009607486,-1.5373253928987287,0.71338606911949],"aabb_xy":[[-0.4919747183225897,-1.5545116741893776],[-0.4702937618695599,-1.5201391116080802]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[-0.17354602611854641,-0.28406627460289124,0.71338606911949],"aabb_xy":[[-0.2535460275486736,-0.3635834296155007],[-0.09354602468841922,-0.20454911959028177]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[-0.48355680099534676,-0.1773552754504868,0.71338606911949],"aabb_xy":[[-0.5335568026568415,-0.22735371770618948],[-0.43355679933385194,-0.12735683319478405]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[-0.12035022470749479,1.0451232587080188,0.71338606911949],"aabb_xy":[[-0.13789691962361372,1.0076232571437675],[-0.10280352979137586,1.08262326027227]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.6280792615975535,0.6188762620736741,0.71338606911949],"aabb_xy":[[0.5867747185338174,0.554876262505557],[0.6693838046612893,0.6828762616417912]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[0.2752029758242792,1.4847406980459419,0.71338606911949],"aabb_xy":[[0.2620517298529899,1.4597406982892553],[0.28835422179556863,1.5097406978026287]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[0.5948106483360467,1.1755568653298991,0.71338606911949],"aabb_xy":[[0.5308106451174088,1.1288337534308905],[0.6588106515546845,1.2222799772289072]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[-0.2544015795288349,-1.868139784588378,0.71338606911949],"aabb_xy":[[-0.31940157956313764,-1.914840461268705],[-0.18940157949453218,-1.8214391079080505]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.5592806334782894,-0.10761516942061489,0.71338606911949],"aabb_xy":[[0.5539481188236764,-0.11293949766585049],[0.5646131481329025,-0.10229084117537929]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.35720936270373627,-0.8807745090898214,0.71338606911949],"aabb_xy":[[0.28720935931217423,-0.9160902827932522],[0.4272093660952982,-0.8454587353863905]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[0.20551764852876653,0.8164602260653266,0.71338606911949],"aabb_xy":[[0.1709265656747213,0.7514602257802955],[0.24010873138281175,0.8814602263503576]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.29932907664130376,-0.5514916388463074,0.71338606911949],"aabb_xy":[[-0.33612370976621003,-0.5883975139428896],[-0.2625344435163975,-0.5145857637497251]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[-0.3279354805151668,-0.6899594479248319,0.71338606911949],"aabb_xy":[[-0.36543548068703874,-0.722660183307739],[-0.29043548034329486,-0.6572587125419246]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.325198050818289,0.9240141994271394,0.71338606911949],"aabb_xy":[[0.31720456102300704,0.916016067486664],[0.3331915406135711,0.9320123313676152]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.11971581053766889,-1.0712181136370917,0.71338606911949],"aabb_xy":[[0.08471581134485061,-1.082185159634754],[0.15471580973048715,-1.060251067639429]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.5114015205761573,0.16258242443819126,0.71338606911949],"aabb_xy":[[-0.5964015189935805,0.07770812897590632],[-0.42640152215873406,0.24745671990047627]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.09837495174362665,-2.150532535538051,0.71338606911949],"aabb_xy":[[0.018374948485783693,-2.2305290433300344],[0.1783749550014696,-2.0705360277460665]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.4591083199038617,1.6642246266745544,0.71338606911949],"aabb_xy":[[0.4216083196116868,1.6601831512739507],[0.49660832019603646,1.6682661020751577]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[0.34063416929420254,1.1396103473567654,0.71338606911949],"aabb_xy":[[0.31563417002224026,1.1232649837606028],[0.3656341685661648,1.1559557109529275]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.12612516303144028,1.5065052408141315,0.71338606911949],"aabb_xy":[[-0.13353761857282875,1.5006540303925033],[-0.1187127074900518,1.5123564512357592]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[0.29937996687672086,-2.3397145279802123,0.71338606911949],"aabb_xy":[[0.2571955527158901,-2.403714528257424],[0.3415643810375516,-2.2757145277030015]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[-0.48374883391243356,1.6544921524843077,0.71338606911949],"aabb_xy":[[-0.5265155407918538,1.5904921490625055],[-0.4409821270330134,1.7184921559061104]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_25","position":[0.060762545444121185,0.8138666745426248,0.71338606911949],"aabb_xy":[[0.056626689111421,0.7763666750982678],[0.06489840177682138,0.8513666739869818]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_26","position":[-0.3507443633661952,0.5773267211735549,0.71338606911949],"aabb_xy":[[-0.40475995964809514,0.5133267182812977],[-0.29672876708429513,0.641326724065812]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_27","position":[0.10471786075916678,-1.3964096189751452,0.71338606911949],"aabb_xy":[[0.0966915901285408,-1.4051611139524978],[0.11274413138979279,-1.3876581239977925]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[0.6386815562482122,-1.030699877311129,0.71338606911949],"aabb_xy":[[0.5746815541984802,-1.070794360400437],[0.7026815582979442,-0.9906053942218211]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[-0.02551742762932996,-1.8180917110100994,0.71338606911949],"aabb_xy":[[-0.04540846750967021,-1.8307475222947966],[-0.005626387748989715,-1.805435899725403]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_30","position":[-0.27957885030644747,-1.4044574309644258,0.71338606911949],"aabb_xy":[[-0.2904846263940101,-1.484457427363255],[-0.2686730742188847,-1.3244574345655966]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_31","position":[-0.12374172042718035,-0.08682998877487114,0.71338606911949],"aabb_xy":[[-0.12869774061206157,-0.10932998897699278],[-0.11878570024229917,-0.06432998857274953]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702746953483297,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3925.png","name":"3925"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3925.png","name":"3925"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3599.png","name":"3599"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1174.png","name":"1174"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3395.png","name":"3395"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2390.png","name":"2390"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":786.2641884488735,"rotation_z_degrees":240.12510159383655,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0048359083706925425,0.003961422926707283,-0.018742485124265476]},{"name":"camera_2","offset_m":[0.014027640261676608,-0.0014466559276752194,-0.004534670747234525]},{"name":"camera_3","offset_m":[0.009355325667939281,0.01980695385239405,-0.013499373431270688]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019336535994985895,0.0009851237259426815,0.0016534458997044615],"end_effector_yaw_offset_degrees":0.37130534394516923},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015485524987753547,-0.0019659475820499373,-0.001390561027068058],"end_effector_yaw_offset_degrees":-0.2956892983842305},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005871558248222897,-0.0009201239320917028,0.0005311876995853274],"end_effector_yaw_offset_degrees":-0.8762744378484728}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025400228224709033,0.0009538301392244819],"position_m":[0.3147400228224709,0.008853830139224483,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012987840136566321,0.004004598095412243],"position_m":[0.27410121598634335,-0.30439540190458775,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032242876712259495,-0.0011278525172049914],"position_m":[0.16287571232877404,0.303372147482795,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004646816612143543,0.0023275908361744787],"position_m":[0.34864681661214353,0.16462759083617448,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e3a8f1f71dc4d46d2a85c25951bed17fc54da1dc0fd7236f44daa4e1d06ec577","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3925/tex_ceiling_textures_2390/tex_floor_textures_3395/tex_table_textures_3599/tex_wall_textures_1174","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":2553012624073767695,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":2553012624073767695,"visual_seed":2553012624073767695,"scene_id":"lab_003","finished_at":"2026-09-04T16:05:19"} +{"episode_id":"ep_000052","started_at":"2026-09-04T16:05:22","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.15367929407136793,0.22711912094881237,0.71338606911949],"aabb_xy":[[-0.2136792943227691,0.17283779591234769],[-0.09367929381996676,0.281400445985277]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[-0.046822591350807574,-1.4189758696814365,0.71338606911949],"aabb_xy":[[-0.08432259129457398,-1.4272689597162729],[-0.009322591407041163,-1.4106827796465997]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[-0.11282570105652334,1.5165400419206594,0.71338606911949],"aabb_xy":[[-0.18282570318795288,1.4937780762949635],[-0.04282569892509379,1.5393020075463548]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.25519255699714904,-0.7802366564397738,0.71338606911949],"aabb_xy":[[0.2373990500622326,-0.7980364020355715],[0.2729860639320655,-0.7624369108439761]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.48925412836570437,-1.6754981701473564,0.71338606911949],"aabb_xy":[[0.4252541319383825,-1.722667793969453],[0.5532541247930263,-1.6283285463252601]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[0.4640212127521972,0.3364859383354575,0.71338606911949],"aabb_xy":[[0.4470111154621465,0.32035144983718356],[0.4810313100422478,0.3526204268337314]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[-0.4367145101313697,-2.2659700816755226,0.71338606911949],"aabb_xy":[[-0.5167145087186891,-2.345285683613683],[-0.35671451154405026,-2.1866544797373613]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[0.34674106083884526,-2.085403720481385,0.71338606911949],"aabb_xy":[[0.30065596958411384,-2.14940371773394],[0.3928261520935768,-2.0214037232288296]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[-0.5412240479379562,0.34725349974360853,0.71338606911949],"aabb_xy":[[-0.6112240505745425,0.327148634747743],[-0.47122404530136985,0.367358364739474]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.47771180308485417,-0.4731150568767153,0.71338606911949],"aabb_xy":[[0.4127118020843536,-0.5239014220313902],[0.5427118040853547,-0.42232869172204035]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[-0.442843582183468,0.14219510236862032,0.71338606911949],"aabb_xy":[[-0.4515415444741834,0.1300701280611456],[-0.4341456198927528,0.15432007667609504]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.2724471709677392,-1.633249292947332,0.71338606911949],"aabb_xy":[[0.19244716953761198,-1.7127664479599414],[0.3524471723978664,-1.5537321379347224]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[-0.4414699374152882,-1.2125530620809633,0.71338606911949],"aabb_xy":[[-0.4508874119851509,-1.221969239218682],[-0.4320524628454254,-1.203136884943244]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[-0.26665104664526224,-0.41161200528093955,0.71338606911949],"aabb_xy":[[-0.28792905478873443,-0.4766120076070126],[-0.24537303850178993,-0.3466120029548665]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.15450735757044898,-0.26792734787797334,0.71338606911949],"aabb_xy":[[-0.20450735893133618,-0.31790525245338896],[-0.10450735620956174,-0.21794944330255775]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[0.5889929616899721,0.7164547413385969,0.71338606911949],"aabb_xy":[[0.5720822292536302,0.7029825357459821],[0.6059036941263137,0.7299269469312112]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.07074675040159484,-1.0175985780819514,0.71338606911949],"aabb_xy":[[0.015621544772004057,-1.0775985795232383],[0.1258719560311856,-0.9575985766406642]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[-0.22334326859106624,0.396685738036215,0.71338606911949],"aabb_xy":[[-0.27332068545631977,0.34668573654696644],[-0.17336585172581262,0.44668573952546353]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.024195274380741982,-1.921366660711766,0.71338606911949],"aabb_xy":[[-0.06549180192737347,-2.0113666609662166],[0.11388235068885744,-1.8313666604573156]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.5723674088404318,-0.568947718814051,0.71338606911949],"aabb_xy":[[-0.609867407263832,-0.5821119327818817],[-0.5348674104170313,-0.5557835048462204]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[-0.19240885545854958,-2.2533095809443884,0.71338606911949],"aabb_xy":[[-0.27240885247279756,-2.2734441326178],[-0.11240885844430157,-2.233175029270977]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[-0.4298046583033066,-2.524987295053583,0.71338606911949],"aabb_xy":[[-0.435899286191425,-2.533556689605252],[-0.42371003041518834,-2.5164179005019145]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.6290987445798579,-1.1848861632425636,0.71338606911949],"aabb_xy":[[0.5640987445455552,-1.2315868399228909],[0.6940987446141607,-1.1381854865622363]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[0.15352559120861808,-2.149755573739141,0.71338606911949],"aabb_xy":[[0.10824697632746882,-2.213755573087325],[0.19880420608976734,-2.0857555743909577]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[-0.08175258733118351,-0.604016742565259,0.71338606911949],"aabb_xy":[[-0.14675258828831073,-0.6559649544989644],[-0.01675258637405631,-0.5520685306315533]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_25","position":[0.3703493120382497,0.664600868595973,0.71338606911949],"aabb_xy":[[0.345803096415499,0.6343519720469358],[0.39489552766100045,0.69484976514501]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[-0.3451817351711211,-1.4477607329157944,0.71338606911949],"aabb_xy":[[-0.3951817368326158,-1.4977591751714971],[-0.2951817335096263,-1.3977622906600917]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[-0.023350142411575958,-2.3423166529653843,0.71338606911949],"aabb_xy":[[-0.04857097927141562,-2.3675404038182704],[0.0018706944482637098,-2.3170929021124964]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_28","position":[0.6779539518225364,1.5244060173661471,0.71338606911949],"aabb_xy":[[0.6534403277255305,1.5001414240641107],[0.7024675759195422,1.5486706106681836]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_29","position":[0.5134465256792053,-1.369241370125716,0.71338606911949],"aabb_xy":[[0.5041529074420548,-1.40674136861385],[0.5227401439163559,-1.331741371637582]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712957963886453,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1000.png","name":"1000"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1000.png","name":"1000"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6139.png","name":"6139"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4634.png","name":"4634"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9150.png","name":"9150"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5369.png","name":"5369"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":616.0367095195768,"rotation_z_degrees":329.1108909769603,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019485984643478848,0.002231698000101163,0.005919572710385047]},{"name":"camera_2","offset_m":[0.0034437801393428988,-0.009248354864759728,0.001808062378394936]},{"name":"camera_3","offset_m":[0.011829673569972343,0.0027820262985098,0.01266163775217127]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009535651213883503,-0.0004346072938366801,-0.0005097852263815663],"end_effector_yaw_offset_degrees":-0.7589887058929363},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016176070464546126,0.00018534624934444036,0.0013341610215284148],"end_effector_yaw_offset_degrees":0.622934776097217},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011494300989565282,0.000922866844996071,-0.0011493559822920503],"end_effector_yaw_offset_degrees":-0.004847667074550088}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006688372002975089,0.0002152468133963777],"position_m":[0.3128688372002975,0.008115246813396378,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011646283153141659,0.002024145177378126],"position_m":[0.2742353716846858,-0.30637585482262186,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026351594322816044,0.00399577465300822],"position_m":[0.1687351594322816,0.3084957746530082,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003318240636379412,-0.003942927945138668],"position_m":[0.3473182406363794,0.15835707205486133,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0fd9c4893d265f59e2aa822e1197c3f06c06591f1613730dcde20ee2a79cc5bd","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1000/tex_ceiling_textures_5369/tex_floor_textures_9150/tex_table_textures_6139/tex_wall_textures_4634","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6861706013040706788,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6861706013040706788,"visual_seed":6861706013040706788,"scene_id":"lab_003","finished_at":"2026-09-04T16:08:05"} +{"episode_id":"ep_000053","started_at":"2026-09-04T16:08:08","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.5811672516342555,0.23687397286755507,0.71338606911949],"aabb_xy":[[-0.6036672518777709,0.22466933820778312],[-0.5586672513907401,0.24907860752732702]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.2524309830604054,-1.6388989812386126,0.71338606911949],"aabb_xy":[[-0.27370899120387765,-1.7038989835646854],[-0.23115297491693315,-1.5738989789125393]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[-0.1381215883416017,-1.8489627458853621,0.71338606911949],"aabb_xy":[[-0.16063528016505887,-1.9189627464863699],[-0.11560789651814449,-1.7789627452843548]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[0.6626513235679661,-0.9888772886650363,0.71338606911949],"aabb_xy":[[0.6253200470427235,-1.0235303434598886],[0.6999826000932087,-0.9542242338701842]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[0.5757968190968406,-2.420881873298869,0.71338606911949],"aabb_xy":[[0.5653852604163567,-2.426227606634767],[0.5862083777773242,-2.4155361399629705]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.4599732437831919,0.9567544881569656,0.71338606911949],"aabb_xy":[[-0.5399732423705113,0.8774388862188048],[-0.37997324519587244,1.0360700900951265]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[-0.6176522569497456,-1.0418850238117223,0.71338606911949],"aabb_xy":[[-0.6412373804136404,-1.106885026057154],[-0.5940671334858507,-0.9768850215662905]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.37061411075988887,-2.3845662624823523,0.71338606911949],"aabb_xy":[[-0.4346141129802959,-2.4289393466076405],[-0.30661410853948184,-2.340193178357064]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.05776150987379025,-1.7100059242950734,0.71338606911949],"aabb_xy":[[-0.0927615090037459,-1.7157511453707375],[-0.022761510743834576,-1.7042607032194093]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[-0.3392907521044091,-1.1045327426367733,0.71338606911949],"aabb_xy":[[-0.4092907542358386,-1.1272947082624687],[-0.2692907499729795,-1.0817707770110774]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[-0.0188173332442777,1.4773110397911773,0.71338606911949],"aabb_xy":[[-0.038708373124617945,1.4646552285064804],[0.0010737066360625507,1.4899668510758741]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.4443272106967931,0.29020234413724344,0.71338606911949],"aabb_xy":[[-0.49420990757448935,0.24020234489096876],[-0.39444451381909695,0.34020234338351824]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[-0.2130301156098559,-0.5663773661444309,0.71338606911949],"aabb_xy":[[-0.2770301159873895,-0.6161226329952432],[-0.1490301152323223,-0.5166320992936186]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.6122584337100854,-1.6702359531386457,0.71338606911949],"aabb_xy":[[-0.6762584328798553,-1.7170026402576082],[-0.5482584345403154,-1.6234692660196832]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.3827256426983565,0.0251273128067937,0.71338606911949],"aabb_xy":[[-0.40022564294340585,0.00762752496722685],[-0.3652256424533071,0.04262710064636054]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[-0.6214015877980634,1.1580954130430734,0.71338606911949],"aabb_xy":[[-0.6665729056462324,1.0940954158985352],[-0.5762302699498945,1.222095410187612]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[0.5217646059770225,0.6381136894584176,0.71338606911949],"aabb_xy":[[0.46676912815636296,0.5831136880245106],[0.5767600837976817,0.6931136908923244]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.11252536049275397,1.3086597605697357,0.71338606911949],"aabb_xy":[[-0.12055163112337995,1.299908265592383],[-0.10449908986212796,1.3174112555470883]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[0.14456519572937,-1.696300393349541,0.71338606911949],"aabb_xy":[[0.10956519741867454,-1.7040154082730865],[0.17956519404006543,-1.6885853784259952]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.10313277577757163,-1.8693243452892552,0.71338606911949],"aabb_xy":[[0.09297976022342223,-1.905393886861995],[0.11328579133172098,-1.8332548037165144]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[-0.011635248828394618,-1.9634812361564418,0.71338606911949],"aabb_xy":[[-0.04609772684148239,-1.9701449133393645],[0.022827229184693154,-1.956817558973519]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6766185242016708,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8916.png","name":"8916"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8916.png","name":"8916"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2243.png","name":"2243"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9928.png","name":"9928"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8988.png","name":"8988"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3770.png","name":"3770"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":698.9212128425668,"rotation_z_degrees":228.4214910423677,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001923206565717265,-0.0033148871909750924,-0.008639811092114638]},{"name":"camera_2","offset_m":[-0.009883676265200082,0.008386977295867001,-0.009798870864695023]},{"name":"camera_3","offset_m":[0.014347103508815923,0.009776563451587075,0.0021281206996433127]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019942247039841368,0.0012008050657770237,0.001872314577367802],"end_effector_yaw_offset_degrees":-0.6003621616876531},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005218569285982979,0.0019801811047780874,0.0015298000373723032],"end_effector_yaw_offset_degrees":0.16415434948485075},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019063014381707453,-0.0011582090985320054,0.00016577055061395458],"end_effector_yaw_offset_degrees":-0.7802870367316084}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004967933200648513,-0.00475451853265935],"position_m":[0.30723206679935144,0.003145481467340651,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016521074574654916,-0.0041185495807697925],"position_m":[0.27705210745746545,-0.3125185495807698,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005889080601919217,-0.0030709145087647327],"position_m":[0.16551109193980806,0.30142908549123526,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022426119583610297,0.004385867521623001],"position_m":[0.346242611958361,0.166685867521623,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e07ddd55ae3565963736c83d2fac26a3dba55c7fce8a70b3c2c20b80f455a439","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0053.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8916/tex_ceiling_textures_3770/tex_floor_textures_8988/tex_table_textures_2243/tex_wall_textures_9928","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":8885814343537674436,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":8885814343537674436,"visual_seed":8885814343537674436,"scene_id":"lab_003","finished_at":"2026-09-04T16:11:07"} +{"episode_id":"ep_000054","started_at":"2026-09-04T16:11:12","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[0.20555679918509495,-2.170694572503466,0.71338606911949],"aabb_xy":[[0.19744314451171788,-2.1788003889574954],[0.21367045385847208,-2.162588756049437]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.5913203333717095,0.9093373760640961,0.71338606911949],"aabb_xy":[[-0.604766860005753,0.895867524411005],[-0.5778738067376663,0.9228072277171875]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[0.5058385156492298,1.7899344631721736,0.71338606911949],"aabb_xy":[[0.49784502585394785,1.7819363312316983],[0.5138320054445119,1.7979325951126495]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[0.07422155310016765,0.6580110187080233,0.71338606911949],"aabb_xy":[[0.004221556690205837,0.6375730830563414],[0.1442215495101294,0.6784489543597049]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.2748339545986428,1.3347845844380508,0.71338606911949],"aabb_xy":[[0.25733395435359335,1.317284796598484],[0.2923339548436921,1.3522843722776177]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.5150632920201101,-0.5916001927581003,0.71338606911949],"aabb_xy":[[0.48060081400702226,-0.5982638699410231],[0.5495257700331978,-0.5849365155751775]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.0032493932574132467,-1.8204368500073391,0.71338606911949],"aabb_xy":[[-0.08324939468754045,-1.8999540050199486],[0.07675060817271395,-1.7409196949947296]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.5068484414766625,1.5345814503450677,0.71338606911949],"aabb_xy":[[-0.5243484417359993,1.5204899081562957],[-0.489348441217326,1.548672992533841]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[-0.37669893435860524,-0.45590964854644467,0.71338606911949],"aabb_xy":[[-0.41419893453047707,-0.4886103839293518],[-0.3391989341867332,-0.4232089131635374]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.15618161799774244,-0.3814864313308304,0.71338606911949],"aabb_xy":[[-0.19118161719056068,-0.3924534773284929],[-0.12118161880492415,-0.37051938533316764]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.30754025886760056,0.25099343135985386,0.71338606911949],"aabb_xy":[[-0.32360218632611815,0.165993429547262],[-0.29147833140908286,0.3359934331724456]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.49068321211145194,-2.0117314994640374,0.71338606911949],"aabb_xy":[[0.4266832088217439,-2.0550664184679546],[0.5546832154011601,-1.9683965804601196]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[0.16156271332349104,-2.341284000055237,0.71338606911949],"aabb_xy":[[0.11156770236403901,-2.391283999090829],[0.2115577242829431,-2.2912840010196454]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[0.22636239138713898,0.7859098310356112,0.71338606911949],"aabb_xy":[[0.21673075516670937,0.7762725182559023],[0.2359940276075686,0.7955471438153201]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.07666394544654831,0.9181167905661147,0.71338606911949],"aabb_xy":[[-0.10166394461218142,0.911164544860758],[-0.051663946280915196,0.9250690362714712]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.6478383596435061,-0.8874962668971356,0.71338606911949],"aabb_xy":[[-0.6512790358835633,-0.8913576998715003],[-0.6443976834034489,-0.8836348339227713]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.3900985364409076,1.4478862633634662,0.71338606911949],"aabb_xy":[[-0.4265943570681862,1.4114023209367086],[-0.35360271581362873,1.4843702057902237]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.1511098219352932,1.099235102702902,0.71338606911949],"aabb_xy":[[0.08610982190099048,1.0525344260225749],[0.21610982196959594,1.1459357793832294]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[0.27643819574542894,-1.3567543817269003,0.71338606911949],"aabb_xy":[[0.19643819873118096,-1.3768889334003116],[0.3564381927596769,-1.336619830053489]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[0.5597105041924841,-1.3131225969377611,0.71338606911949],"aabb_xy":[[0.5372113684662572,-1.3356225977160239],[0.5822096399187111,-1.290622596159498]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.29121631329889386,-2.328956093128461,0.71338606911949],"aabb_xy":[[0.2830886251055806,-2.337869701539169],[0.299344001492207,-2.3200424847177534]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[0.46076955567595834,0.6006875995454983,0.71338606911949],"aabb_xy":[[0.41296338806218963,0.5356875968384393],[0.508575723289727,0.6656876022525572]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.070616118247808,1.2598157132738863,0.71338606911949],"aabb_xy":[[0.00661612185223491,1.1958524248551528],[0.13461611464338108,1.3237790016926199]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[-0.3280176658383616,-1.137249314919843,0.71338606911949],"aabb_xy":[[-0.38801766748128347,-1.1892494642117872],[-0.26801766419543976,-1.0852491656278989]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[-0.2586969114201438,0.7276224351044731,0.71338606911949],"aabb_xy":[[-0.3036894981385942,0.6826224358300244],[-0.21370432470169337,0.7726224343789219]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[0.1982713526000366,-0.8981408790688117,0.71338606911949],"aabb_xy":[[0.14827135093854182,-0.9481393213245143],[0.24827135426153135,-0.8481424368131089]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_26","position":[-0.1172018035392024,-1.2247495569471067,0.71338606911949],"aabb_xy":[[-0.15220180343522127,-1.2331237924590468],[-0.08220180364318355,-1.2163753214351667]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[-0.16369538638833947,0.8533458617737746,0.71338606911949],"aabb_xy":[[-0.16902790104295248,0.848021533528539],[-0.1583628717337265,0.8586701900190101]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_28","position":[0.13905227389413832,1.5262007893049607,0.71338606911949],"aabb_xy":[[0.07405227533706549,1.496448255891078],[0.20405227245121116,1.5559533227188433]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[-0.11441424899868236,-0.7840669650980556,0.71338606911949],"aabb_xy":[[-0.17841424925915317,-0.8290757644509835],[-0.05041424873821155,-0.7390581657451275]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_30","position":[-0.1255799151420911,-0.27919757172168946,0.71338606911949],"aabb_xy":[[-0.189579911569413,-0.32636719554378596],[-0.0615799187147692,-0.23202794789959308]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_31","position":[-0.5736090878886143,-0.5283192985670255,0.71338606911949],"aabb_xy":[[-0.5844606941374899,-0.5391785892946765],[-0.5627574816397387,-0.5174600078393745]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_32","position":[0.646545205243104,-1.2930884132719223,0.71338606911949],"aabb_xy":[[0.6351834705898177,-1.3044568796782101],[0.65790693989639,-1.281719946865634]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_33","position":[-0.01390524186279507,-2.484934759574976,0.71338606911949],"aabb_xy":[[-0.04981874628778475,-2.52084826779173],[0.02200826256219461,-2.4490212513582206]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_34","position":[-0.18973058665579579,-1.601769751996025,0.71338606911949],"aabb_xy":[[-0.2697305899198089,-1.6153297843049383],[-0.10973058339178263,-1.5882097196871117]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674377278020648,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6405.png","name":"6405"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6405.png","name":"6405"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9595.png","name":"9595"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8065.png","name":"8065"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4361.png","name":"4361"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1368.png","name":"1368"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":836.4759647161076,"rotation_z_degrees":235.67941820951583,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015979670040809687,-0.018926015453567376,-0.01957389185834536]},{"name":"camera_2","offset_m":[0.011551535236637777,-2.0885639869204498e-06,0.00597880962008154]},{"name":"camera_3","offset_m":[-0.015004027723936143,-0.011992157992878396,-0.019124738104139057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-1.3440766874968455e-05,-0.00014710897013370076,0.0011136580589012094],"end_effector_yaw_offset_degrees":-0.4304350750955448},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009111143839497773,-0.0002278280109680982,1.0225450242516872e-05],"end_effector_yaw_offset_degrees":-0.6911095292379223},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003893641904834065,0.0015291078742307547,-0.0011744705190115492],"end_effector_yaw_offset_degrees":0.8441796702819784}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015673644719092902,0.001124228492095424],"position_m":[0.3137673644719093,0.009024228492095426,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00029903933996289645,-0.003012862625653361],"position_m":[0.2751009606600371,-0.3114128626256534,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004405176361360817,-0.0038893307548159384],"position_m":[0.16169482363863918,0.30061066924518404,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002397263349675681,-0.0003033180532597199],"position_m":[0.34639726334967563,0.16199668194674027,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bd87e398a7ba1c69894b484758074043fe51d0ea2e9dfc817b07048e599bbcc8","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0054.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6405/tex_ceiling_textures_1368/tex_floor_textures_4361/tex_table_textures_9595/tex_wall_textures_8065","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3809285704956609547,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3809285704956609547,"visual_seed":3809285704956609547,"scene_id":"lab_003","finished_at":"2026-09-04T16:13:50"} +{"episode_id":"ep_000055","started_at":"2026-09-04T16:13:53","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.1577947616720281,1.0578208757135705,0.71338606911949],"aabb_xy":[[-0.23779475863506724,0.9807452340697971],[-0.07779476470898891,1.134896517357344]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[-0.06138036267007796,1.5671971136630813,0.71338606911949],"aabb_xy":[[-0.10850974167191361,1.5031971126186792],[-0.014250983668242276,1.631197114707483]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[0.5471145635718442,-2.302147893139333,0.71338606911949],"aabb_xy":[[0.47711456716188233,-2.3225858287910137],[0.6171145599818059,-2.2817099574876503]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.06830775164476022,1.4288950654363917,0.71338606911949],"aabb_xy":[[-0.07793938786518984,1.4192577526566827],[-0.0586761154243306,1.4385323782161006]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.3452579856670517,-0.6650642033802634,0.71338606911949],"aabb_xy":[[-0.3811714900920413,-0.700977711597018],[-0.30934448124206193,-0.6291506951635087]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.4784459801638362,0.9066752114587509,0.71338606911949],"aabb_xy":[[-0.4858584357052247,0.9008240010371228],[-0.47103352462244774,0.9125264218803787]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[-0.5382084074317023,0.5073042038247348,0.71338606911949],"aabb_xy":[[-0.6022084060182746,0.46029724042522613],[-0.4742084088451297,0.5543111672242436]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[0.5505851024010042,-1.4782937124935511,0.71338606911949],"aabb_xy":[[0.5445480894003396,-1.4843204135624992],[0.5566221154016691,-1.472267011424603]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.6271779546636698,0.13737614992172054,0.71338606911949],"aabb_xy":[[-0.6516915787606756,0.11311155661968406],[-0.6026643305666639,0.16164074322375696]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[0.3787244414218265,-1.547931446812585,0.71338606911949],"aabb_xy":[[0.3548882237812215,-1.6379314476210718],[0.40256065906243166,-1.4579314460040986]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[-0.4943669160713413,1.4852653317592117,0.71338606911949],"aabb_xy":[[-0.5052185223202169,1.4744060410315607],[-0.4835153098224657,1.4961246224868627]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.6087733899536143,-1.3090489273385246,0.71338606911949],"aabb_xy":[[0.6046574398415415,-1.3131644823713697],[0.6128893400656868,-1.3049333723056786]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[-0.5287663995109373,-0.4969352992025544,0.71338606911949],"aabb_xy":[[-0.5509389264875881,-0.5191109663586775],[-0.5065938725342864,-0.4747596320464312]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[0.09539255631508547,-1.7503511577601218,0.71338606911949],"aabb_xy":[[0.08276576902788911,-1.7598972314616945],[0.10801934360228181,-1.7408050840585487]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.48792095074956476,1.560740955072744,0.71338606911949],"aabb_xy":[[0.4814193142415602,1.5509731330464347],[0.49442258725756943,1.5705087770990542]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[0.47897295531613926,-0.821896912026671,0.71338606911949],"aabb_xy":[[0.4311667877023706,-0.8868969147337298],[0.5267791229299079,-0.7568969093196118]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[0.08523540113133343,-0.6831138706078743,0.71338606911949],"aabb_xy":[[0.0352403901718814,-0.7331138696434661],[0.13523041209078546,-0.6331138715722827]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[0.641241659664959,-0.3890836661548125,0.71338606911949],"aabb_xy":[[0.5612416582348317,-0.4686008211674219],[0.7212416610950861,-0.30956651114220296]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.6290851598354888,-1.2634062330037636,0.71338606911949],"aabb_xy":[[-0.6930851562310618,-1.327369521422497],[-0.5650851634399157,-1.1994429445850299]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[0.3953653046309662,0.7790385200776666,0.71338606911949],"aabb_xy":[[0.3313653029529689,0.7305211285983523],[0.4593653063089636,0.8275559115569807]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.09971457516276183,-2.5499804498491345,0.71338606911949],"aabb_xy":[[-0.10741776583683887,-2.5576898205478726],[-0.09201138448868479,-2.5422710791503964]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.3342151609704933,-0.08485885704515139,0.71338606911949],"aabb_xy":[[-0.3567142966967203,-0.10735885782341438],[-0.31171602524426634,-0.06235885626688843]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.303329222902039,-1.3238896039247297,0.71338606911949],"aabb_xy":[[0.23832922502039128,-1.3750132676312705],[0.36832922078368685,-1.2727659402181888]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6726519273017202,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1939.png","name":"1939"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1939.png","name":"1939"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6813.png","name":"6813"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/60.png","name":"60"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7027.png","name":"7027"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5642.png","name":"5642"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":672.2002063948992,"rotation_z_degrees":131.96000140769038,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015739418729799115,-0.005753880588628616,0.0012890900416892663]},{"name":"camera_2","offset_m":[-0.012556835698247348,0.006386149669222022,-0.0009218951088210102]},{"name":"camera_3","offset_m":[0.016336523750671118,0.018095039442356044,-0.011965622683727176]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014892854158976721,0.0010360774622745744,-0.0008100432606822046],"end_effector_yaw_offset_degrees":0.22909281187403963},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013308900503653243,-0.0005211368368720976,-0.0005097638639896579],"end_effector_yaw_offset_degrees":-0.37502504140874393},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005702172224711214,0.0007440529069401105,0.0019625903208695533],"end_effector_yaw_offset_degrees":-0.16873276989247166}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002620042793122875,0.00431021591821745],"position_m":[0.31482004279312287,0.01221021591821745,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006809182581771732,0.0026539486058609844],"position_m":[0.27608091825817715,-0.305746051394139,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0044290960147425245,-0.003598864574964603],"position_m":[0.17052909601474253,0.3009011354250354,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011067558099373976,0.0035999860525519458],"position_m":[0.3451067558099374,0.16589998605255193,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bf2d4d637c4037cad0456235eb4cc9f0268480697d4a9c44ac5d5fc0de606dcc","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1939/tex_ceiling_textures_5642/tex_floor_textures_7027/tex_table_textures_6813/tex_wall_textures_60","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5815477553888386374,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5815477553888386374,"visual_seed":5815477553888386374,"scene_id":"lab_003","finished_at":"2026-09-04T16:16:30"} +{"episode_id":"ep_000056","started_at":"2026-09-04T16:16:33","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[-0.647474751628042,-0.2503341719918737,0.71338606911949],"aabb_xy":[[-0.6820658344820871,-0.3153341722769047],[-0.6128836687739967,-0.1853341717068426]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[0.6193007254942242,-1.2918857819982266,0.71338606911949],"aabb_xy":[[0.5954645078536193,-1.381885782806713],[0.6431369431348294,-1.20188578118974]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.12702463053780821,0.5914897566879009,0.71338606911949],"aabb_xy":[[-0.13110278844485793,0.5874087764396376],[-0.12294647263075845,0.5955707369361642]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.2753756334218875,-1.1840059484244636,0.71338606911949],"aabb_xy":[[-0.3403756345278308,-1.208971321492592],[-0.21037563231594425,-1.1590405753563353]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[-0.4811170684009769,-0.8175488415590781,0.71338606911949],"aabb_xy":[[-0.5511170700032564,-0.8309816347607358],[-0.4111170667986975,-0.8041160483574207]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.18171288928281237,0.3377749888438628,0.71338606911949],"aabb_xy":[[-0.25171288569277406,0.317337053192181],[-0.11171289287285054,0.3582129244955444]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[0.07993547888248032,-1.8946617706840396,0.71338606911949],"aabb_xy":[[0.015935476970137974,-1.9505729199420503],[0.14393548079482266,-1.8387506214260294]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.5257276425584557,0.7113941430213537,0.71338606911949],"aabb_xy":[[-0.5607276424544745,0.7030199075094137],[-0.4907276426624368,0.7197683785332936]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[0.0877012159705487,1.1883673634318024,0.71338606911949],"aabb_xy":[[0.0702012157254993,1.1708675755922353],[0.10520121621559807,1.205867151271369]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.33927677725681216,-1.9299773355653413,0.71338606911949],"aabb_xy":[[0.2942767757905833,-1.9749771924268222],[0.38427677872304106,-1.884977478703861]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[0.6274353901359055,-0.5641120136364304,0.71338606911949],"aabb_xy":[[0.6098570879469586,-0.5816865032105353],[0.6450136923248523,-0.5465375240623255]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[-0.312969755575518,0.8011675845857638,0.71338606911949],"aabb_xy":[[-0.3304004706545244,0.783895469921913],[-0.29553904049651136,0.8184396992496146]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[0.6191643276954428,-1.0884607202410723,0.71338606911949],"aabb_xy":[[0.5816643277516764,-1.096753810275909],[0.6566643276392092,-1.0801676302062357]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[-0.6189907229696889,-0.053421527549537995,0.71338606911949],"aabb_xy":[[-0.6270169936003149,-0.06217302252689062],[-0.6109644523390629,-0.044670032572185395]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.25661369779999893,-0.13116166060240309,0.71338606911949],"aabb_xy":[[-0.34661369752317306,-0.1542350131375829],[-0.16661369807682472,-0.10808830806722323]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.53914095947254,0.1981712726650553,0.71338606911949],"aabb_xy":[[0.532100649539003,0.1181712732653839],[0.546181269406077,0.2781712720647267]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.18845296267248868,0.05993444161231665,0.71338606911949],"aabb_xy":[[-0.22548707210054836,0.025557234278607198],[-0.15141885324442894,0.09431164894602609]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[0.6227701108027823,-2.174948883202709,0.71338606911949],"aabb_xy":[[0.5922858606757522,-2.224948882984205],[0.6532543609298125,-2.124948883421213]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.49405566062905437,-1.7568217646479969,0.71338606911949],"aabb_xy":[[-0.5580556638476921,-1.8035448765470055],[-0.43005565741041646,-1.7100986527489888]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.4096661590383976,-1.3053351256356613,0.71338606911949],"aabb_xy":[[-0.4341797831354035,-1.3295997189376978],[-0.3851525349413918,-1.281070532333625]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.08817568034535905,1.1381718729542794,0.71338606911949],"aabb_xy":[[-0.09793166985453293,1.128409338895045],[-0.07841969083618515,1.1479344070135138]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.6645446643656915,-2.3959853504959074,0.71338606911949],"aabb_xy":[[-0.6821774999592191,-2.41360829651153],[-0.6469118287721639,-2.378362404480284]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[0.1750649671497082,1.5876193498104159,0.71338606911949],"aabb_xy":[[0.16948329551557942,1.5751193499926406],[0.18064663878383694,1.6001193496281916]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.530691226123983,-2.0942333420523096,0.71338606911949],"aabb_xy":[[-0.5674858592488893,-2.131139217148892],[-0.49389659299907673,-2.0573274669557273]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_24","position":[0.1977249807084559,-1.6537092697912965,0.71338606911949],"aabb_xy":[[0.16087443277146826,-1.6912092706143302],[0.23457552864544348,-1.6162092689682628]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.17386965333983084,-0.8393777681115417,0.71338606911949],"aabb_xy":[[-0.19886965250546396,-0.8463300138168984],[-0.14886965417419773,-0.8324255224061853]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[0.6011979148468605,-2.32399890296751,0.71338606911949],"aabb_xy":[[0.5924166876996243,-2.332778650256041],[0.6099791419940969,-2.3152191556789803]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6772938719830507,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8158.png","name":"8158"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8158.png","name":"8158"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9400.png","name":"9400"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8563.png","name":"8563"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/359.png","name":"359"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4990.png","name":"4990"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":663.2911244766253,"rotation_z_degrees":31.62233224234045,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013657782897462658,-0.005296927442187295,-0.006236615800461776]},{"name":"camera_2","offset_m":[0.013304645884219233,-0.0038269239220546855,-0.011447541967428957]},{"name":"camera_3","offset_m":[-0.011164638315137866,0.005194712095037152,-0.014944385364858523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015603915108476417,0.001004857425466217,-0.0006278917437750483],"end_effector_yaw_offset_degrees":0.3403155693989761},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008898805574564168,0.0006229550917120109,-0.0014931486446661648],"end_effector_yaw_offset_degrees":-0.5234079218537204},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017737704183623433,0.0017767823209350335,-3.510754279303441e-05],"end_effector_yaw_offset_degrees":-0.01845728470020047}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0002072575467366774,-0.0008686325905872764],"position_m":[0.31240725754673665,0.007031367409412724,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003407450391360576,-0.0021999574295563785],"position_m":[0.27880745039136057,-0.3105999574295564,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011387550025909444,0.0030467413471285927],"position_m":[0.16496124499740905,0.30754674134712856,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014214760412192807,0.0009801826437702398],"position_m":[0.3425785239587807,0.16328018264377023,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bb7537d0c568973099b8e1bfd302c8ac75a8291607781021f4c8989fe473262a","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8158/tex_ceiling_textures_4990/tex_floor_textures_359/tex_table_textures_9400/tex_wall_textures_8563","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3155326399459297739,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3155326399459297739,"visual_seed":3155326399459297739,"scene_id":"lab_003","finished_at":"2026-09-04T16:19:13"} +{"episode_id":"ep_000057","started_at":"2026-09-04T16:19:18","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[-0.535553617499323,0.23289753146516867,0.71338606911949],"aabb_xy":[[-0.5419674311425078,0.2264877112175003],[-0.5291398038561379,0.23930735171283699]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[-0.006739694003740748,1.6853666099857842,0.71338606911949],"aabb_xy":[[-0.01861177701524186,1.600366610292134],[0.005132389007760363,1.7703666096794346]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[-0.12351479540517463,-0.2943017862141315,0.71338606911949],"aabb_xy":[[-0.1279454247600148,-0.29975015794881416],[-0.11908416605033445,-0.28885341447944896]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.30458349339777835,-0.3366999901846599,0.71338606911949],"aabb_xy":[[-0.3420834945825711,-0.34111821288072036],[-0.2670834922129855,-0.33228176748859933]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.4573360590823594,-2.434860292738454,0.71338606911949],"aabb_xy":[[0.4348223672589022,-2.504860293339461],[0.4798497509058166,-2.364860292137446]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[0.30784519919137265,-0.6595677845294123,0.71338606911949],"aabb_xy":[[0.22784519872115672,-0.6678784921437607],[0.38784519966158865,-0.651257076915064]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[-0.16501688639942214,1.0150343982283583,0.71338606911949],"aabb_xy":[[-0.17381894170839482,1.007223072073429],[-0.1562148310904494,1.0228457243832871]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.10885295899284897,-0.569562592688627,0.71338606911949],"aabb_xy":[[-0.13135209471907594,-0.5920625934668899],[-0.086353823266622,-0.547062591910364]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[-0.5925834482158414,-1.8816451151152476,0.71338606911949],"aabb_xy":[[-0.6465990444977412,-1.9456451180075045],[-0.5385678519339412,-1.8176451122229902]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.4032316102124044,-1.5609688972689835,0.71338606911949],"aabb_xy":[[-0.46323161107321714,-1.6123953272754696],[-0.3432316093515915,-1.5095424672624969]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.5889565241226138,-0.7648174982964318,0.71338606911949],"aabb_xy":[[0.5389565231720809,-0.7963666452999532],[0.6389565250731465,-0.7332683512929103]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[-0.17604132752196266,0.5824023053058132,0.71338606911949],"aabb_xy":[[-0.24004132789949623,0.5326570384550008],[-0.11204132714442899,0.6321475721566253]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[-0.15723167915363778,-2.2075409380710385,0.71338606911949],"aabb_xy":[[-0.19473167981821646,-2.22322799607126],[-0.11973167848905907,-2.191853880070816]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[0.25407963372432285,-1.6227400109260524,0.71338606911949],"aabb_xy":[[0.24466215915446005,-1.6321561880637714],[0.26349710829418554,-1.6133238337883333]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[0.27195313584555636,-2.3719149372350876,0.71338606911949],"aabb_xy":[[0.2079531394182345,-2.419084561057184],[0.3359531322728783,-2.324745313412991]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[0.08167134286732991,-1.2168092417251286,0.71338606911949],"aabb_xy":[[0.0744100952969225,-1.229596251988638],[0.08893259043773732,-1.2040222314616191]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.6078881486892617,-0.5495640913819599,0.71338606911949],"aabb_xy":[[-0.6878881519471046,-0.6295605991739439],[-0.5278881454314187,-0.46956758358997597]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[0.06545844442815618,1.8064113974593785,0.71338606911949],"aabb_xy":[[0.050295571451219115,1.79124594016426],[0.08062131740509328,1.8215768547544975]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[0.43200437997698793,-0.9211673247285621,0.71338606911949],"aabb_xy":[[0.39700438078416955,-0.9321343707262246],[0.4670043791698061,-0.9102002787308994]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[0.4017695202987679,1.6497235623473991,0.71338606911949],"aabb_xy":[[0.3937261603728126,1.5647235612520325],[0.40981288022472295,1.7347235634427653]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.19422481932966507,-0.7957599229180781,0.71338606911949],"aabb_xy":[[0.12422481719823547,-0.8185218885437735],[0.26422482146109455,-0.7729979572923822]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.4269620669485553,-0.08934175192225435,0.71338606911949],"aabb_xy":[[-0.4769551790577473,-0.13934175259645],[-0.37696895483936355,-0.03934175124805873]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[-0.11311448977645977,1.5415646263323262,0.71338606911949],"aabb_xy":[[-0.14757683717460154,1.5070707439345032],[-0.07865214237831795,1.5760585087301486]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[0.6156278230541667,1.473441571568221,0.71338606911949],"aabb_xy":[[0.5256278233309924,1.4503682190330411],[0.7056278227773408,1.4965149241034008]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[0.6972995840481149,0.858958840199957,0.71338606911949],"aabb_xy":[[0.68926324934683,0.8509207208955403],[0.7053359187493997,0.8669969595043738]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6693775233111159,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3394.png","name":"3394"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3394.png","name":"3394"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9277.png","name":"9277"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1169.png","name":"1169"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6859.png","name":"6859"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6815.png","name":"6815"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":743.1888500857909,"rotation_z_degrees":90.78897862524425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005015276232298298,0.019584402197600704,0.016744071392836953]},{"name":"camera_2","offset_m":[0.0094027028746404,-0.00992102911833122,0.019994143836751178]},{"name":"camera_3","offset_m":[-0.007906626363053105,-0.0019023999849254944,-0.0034619026440705254]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018814943955091903,0.0014843367442486889,-0.0008947655622076295],"end_effector_yaw_offset_degrees":-0.3006652000168435},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015810974615049123,-0.0012908687084957067,0.0007420181604522614],"end_effector_yaw_offset_degrees":0.8408211190489134},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000944104855700859,-0.0012600211393622592,-0.00019137294569107773],"end_effector_yaw_offset_degrees":-0.40403292265624047}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032309158758508398,-0.0044420128341668705],"position_m":[0.30896908412414914,0.0034579871658331303,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00424201027781921,0.00024236462972631722],"position_m":[0.27115798972218075,-0.3081576353702737,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031053361980332207,0.004010259639038091],"position_m":[0.16299466380196678,0.3085102596390381,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014476285786630006,-0.00028213770007807365],"position_m":[0.34544762857866296,0.16201786229992193,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"23e9bfd58dc39e5578714256ee86b8be1d488987daeabbb18d8f0ad3dfe0d4a5","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3394/tex_ceiling_textures_6815/tex_floor_textures_6859/tex_table_textures_9277/tex_wall_textures_1169","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":430671392898656176,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":430671392898656176,"visual_seed":430671392898656176,"scene_id":"lab_003","finished_at":"2026-09-04T16:21:52"} +{"episode_id":"ep_000058","started_at":"2026-09-04T16:21:55","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[0.460993463796346,1.0977989274721067,0.71338606911949],"aabb_xy":[[0.437157246155741,1.0077989266636205],[0.4848296814369511,1.1877989282805934]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.33586247466090313,-2.5409822479265993,0.71338606911949],"aabb_xy":[[0.31086247549527,-2.547934493631956],[0.36086247382653625,-2.5340300022212427]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.14020313597531353,-1.7360459498686307,0.71338606911949],"aabb_xy":[[0.13423659703457771,-1.7420070945279948],[0.1461696749160493,-1.7300848052092666]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[0.5320844976588954,0.32103850141156975,0.71338606911949],"aabb_xy":[[0.5016863865597517,0.2906315994099002],[0.5624826087580389,0.3514454034132392]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[-0.6142918880294993,-0.710581148668245,0.71338606911949],"aabb_xy":[[-0.6367918885415399,-0.7330730070336433],[-0.5917918875174587,-0.6880892903028466]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[-0.622913096321946,0.2612680954379831,0.71338606911949],"aabb_xy":[[-0.6316110586126613,0.2491431211305084],[-0.6142151340312307,0.27339306974545785]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.1782444704015308,1.0824281607147577,0.71338606911949],"aabb_xy":[[-0.2157444703452972,1.0741350706799213],[-0.1407444704577644,1.0907212507495945]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.6677074154411523,-1.9874001822879177,0.71338606911949],"aabb_xy":[[-0.6902211072646094,-2.0574001828889257],[-0.645193723617695,-1.9174001816869104]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[-0.22035759975293745,-0.43859751625289567,0.71338606911949],"aabb_xy":[[-0.22840095967889262,-0.5235975173482621],[-0.21231423982698228,-0.3535975151575292]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.478923602174676,-2.2200332712573676,0.71338606911949],"aabb_xy":[[-0.5013883721460811,-2.2425332721362277],[-0.4564588322032709,-2.1975332703785067]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[-0.40817676292043537,0.7487071307605269,0.71338606911949],"aabb_xy":[[-0.4534553778015847,0.6847071314123431],[-0.36289814803928616,0.8127071301087104]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[0.009356104784068564,-1.2023538251403285,0.71338606911949],"aabb_xy":[[-0.007321031209026942,-1.219053749114259],[0.02603324077716407,-1.1856539011663985]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.3037306587513474,-0.5022818981103234,0.71338606911949],"aabb_xy":[[-0.3256204063402882,-0.5922818953995725],[-0.2818409111624066,-0.41228190082107435]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.24743580283984912,-2.5163742959312962,0.71338606911949],"aabb_xy":[[-0.2530174744739779,-2.5288742957490715],[-0.24185413120572039,-2.503874296113521]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[0.1352544372821085,-1.3259531680251004,0.71338606911949],"aabb_xy":[[0.1256228010616789,-1.3355904808048094],[0.14488607350253813,-1.3163158552453915]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.4767676023811367,-2.3762767713170323,0.71338606911949],"aabb_xy":[[-0.5267518380893139,-2.426276770130528],[-0.4267833666729595,-2.3262767725035367]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.43547326916869517,-1.1840623239831327,0.71338606911949],"aabb_xy":[[-0.45797326898259755,-1.1885369403536137],[-0.4129732693547928,-1.1795877076126522]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.31049576630975523,-0.9517268940244994,0.71338606911949],"aabb_xy":[[-0.3479957664153482,-0.9585490558774804],[-0.27299576620416227,-0.9449047321715182]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.4784212249139136,1.5838289975064623,0.71338606911949],"aabb_xy":[[-0.4825371750259862,1.5797134424736166],[-0.47430527480184087,1.5879445525393077]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.3777944407490297,-1.6645992856187353,0.71338606911949],"aabb_xy":[[0.31379443753039177,-1.7113223975177438],[0.4417944439676675,-1.6178761737197271]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.33052511071985036,-1.4055716550225745,0.71338606911949],"aabb_xy":[[0.2505251127390653,-1.4131731959844265],[0.4105251087006354,-1.3979701140607226]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.664473656542519,0.534057293135672,0.71338606911949],"aabb_xy":[[-0.6823427642969745,0.520224385158461],[-0.6466045487880635,0.5478902011128829]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[0.30339479812602077,1.3902074184785604,0.71338606911949],"aabb_xy":[[0.27884858250327,1.3599585219295232],[0.32794101374877144,1.4204563150275973]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.2523632702055102,0.6706300442118693,0.71338606911949],"aabb_xy":[[-0.25649912653821044,0.6331300447675124],[-0.24822741387281005,0.7081300436562264]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.44808258181123484,-0.38574168901247186,0.71338606911949],"aabb_xy":[[0.41058258151905996,-0.3897831644130754],[0.4855825821034096,-0.3817002136118682]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[-0.25982143413086656,1.7424741684364,0.71338606911949],"aabb_xy":[[-0.2810994422743388,1.6774741661103267],[-0.2385434259873943,1.8074741707624729]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[-0.4673397612079172,1.2638358215877434,0.71338606911949],"aabb_xy":[[-0.5173185697182331,1.2138358215820246],[-0.4173609526976013,1.3138358215934622]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_27","position":[-0.17736157236278227,-2.2559325079958397,0.71338606911949],"aabb_xy":[[-0.24136157565249036,-2.299267426999757],[-0.11336156907307414,-2.2125975889919216]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[-0.014346050467513916,0.9663637751258225,0.71338606911949],"aabb_xy":[[-0.07834605281031547,0.9214229238816901],[0.04965395187528764,1.011304626369955]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_29","position":[0.315939887592104,0.5345509229371626,0.71338606911949],"aabb_xy":[[0.25194419019700737,0.47055092463645376],[0.37993558498720054,0.5985509212378711]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6711405516602506,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2466.png","name":"2466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2466.png","name":"2466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1916.png","name":"1916"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/35.png","name":"35"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3136.png","name":"3136"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5240.png","name":"5240"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":719.5316022903788,"rotation_z_degrees":70.29380874702059,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016327298414508008,-0.01929359445137582,0.0011123560317306894]},{"name":"camera_2","offset_m":[-0.013395076067171545,0.01557649954528648,-0.014910338267930676]},{"name":"camera_3","offset_m":[-0.017529386387703152,0.015221554441331695,-0.006834427198854062]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018600150302122307,0.0009242644588035556,-0.0004092076204701364],"end_effector_yaw_offset_degrees":0.867840820513925},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013572280400159142,-0.00043181254304693094,-0.0010896576953523746],"end_effector_yaw_offset_degrees":-0.7762660893187239},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015592193869069155,0.0002920504520765202,-0.0013938877198045013],"end_effector_yaw_offset_degrees":0.13189770014083346}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019705282208569534,-0.0040987357984209995],"position_m":[0.31417052822085695,0.0038012642015790013,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004785124809859894,-0.004600943509162168],"position_m":[0.2706148751901401,-0.3130009435091622,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00346716077516094,-0.0015928100106861842],"position_m":[0.16263283922483907,0.3029071899893138,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004211732652407515,-0.0019547884687378613],"position_m":[0.33978826734759243,0.16034521153126213,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0abcf8d950d6cb43720579f3972bd08acc91550bcea3976bf57dd69bd2d5f645","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2466/tex_ceiling_textures_5240/tex_floor_textures_3136/tex_table_textures_1916/tex_wall_textures_35","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":2601481845549067459,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":2601481845549067459,"visual_seed":2601481845549067459,"scene_id":"lab_003","finished_at":"2026-09-04T16:24:28"} +{"episode_id":"ep_000059","started_at":"2026-09-04T16:24:31","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[0.45373794095003883,-2.378094497906716,0.71338606911949],"aabb_xy":[[0.40373794150984316,-2.4280624223910316],[0.5037379403902345,-2.328126573422399]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[0.011145465327909276,-2.1823578160941626,0.71338606911949],"aabb_xy":[[-0.05285453608008139,-2.234146767618087],[0.07514546673589993,-2.1305688645702374]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.3794360091383866,1.6690544081942842,0.71338606911949],"aabb_xy":[[-0.3875636973316999,1.6601407997835764],[-0.37130832094507343,1.677968016604992]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.34787801678596986,1.2812224077991852,0.71338606911949],"aabb_xy":[[0.3302451811924422,1.2635994617835622],[0.3655108523794974,1.2988453538148081]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[0.3623604485540617,0.616031502029069,0.71338606911949],"aabb_xy":[[0.3449297334750551,0.5987593873652179],[0.37979116363306814,0.6333036166929196]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.09634183397525209,0.01786874401377636,0.71338606911949],"aabb_xy":[[-0.1463418335515868,-0.032111834938329586],[-0.046341834398917384,0.06784932296588231]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.5781758766468625,-0.45618933157729824,0.71338606911949],"aabb_xy":[[0.571674240138858,-0.46595715360360807],[0.5846775131548673,-0.4464215095509885]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.5617838431300524,-0.9610255509441719,0.71338606911949],"aabb_xy":[[0.497783841452055,-1.009542942423486],[0.6257838448080497,-0.9125081594648576]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.5966492262934531,-1.6215561899375643,0.71338606911949],"aabb_xy":[[0.5366492264468863,-1.678374812130603],[0.6566492261400199,-1.5647375677445257]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.09640238528567702,-0.6963224871573741,0.71338606911949],"aabb_xy":[[0.01640238812610173,-0.7078700881151911],[0.1764023824452523,-0.6847748861995571]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[-0.4757920156234674,-1.5474705232844337,0.71338606911949],"aabb_xy":[[-0.4838353755494226,-1.6324705243798001],[-0.46774865569751223,-1.4624705221890673]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[-0.11531849688110718,-1.5888321283655027,0.71338606911949],"aabb_xy":[[-0.12573005556159086,-1.5941778617014009],[-0.10490693820062344,-1.583486395029604]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[0.5297195692622141,1.716136829032298,0.71338606911949],"aabb_xy":[[0.5044987324023743,1.6909130781794113],[0.5549404061220536,1.7413605798851848]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.4392746107084131,0.5728085731663461,0.71338606911949],"aabb_xy":[[-0.4992746109598143,0.5185272481298815],[-0.37927461045701194,0.6270898982028108]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[-0.34109658674971977,-1.8726191298759651,0.71338606911949],"aabb_xy":[[-0.40609658938751325,-1.924098728575412],[-0.2760965841119263,-1.8211395311765182]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[0.6753241062494741,0.910081850710251,0.71338606911949],"aabb_xy":[[0.6672978356188483,0.9013303557328985],[0.6833503768801003,0.9188333456876038]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.31904916749804185,-1.423156982875008,0.71338606911949],"aabb_xy":[[-0.35404916739406067,-1.4315312183869475],[-0.2840491676020229,-1.4147827473630679]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.5777980752214327,-1.0679752484355587,0.71338606911949],"aabb_xy":[[0.5743573989813755,-1.0718366814099234],[0.5812387514614898,-1.0641138154611944]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.5110292030752446,-1.880157769915894,0.71338606911949],"aabb_xy":[[-0.5360292030077625,-1.8870404381368173],[-0.4860292031427267,-1.8732751016949707]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.4109101377033366,-1.1304263890780792,0.71338606911949],"aabb_xy":[[0.3734101375977436,-1.1372485509310604],[0.4484101378089295,-1.1236042272250981]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.40011988021721295,-2.182432153197698,0.71338606911949],"aabb_xy":[[-0.4501147131451546,-2.2324321520929415],[-0.3501250472892714,-2.1324321543024545]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[0.6463623627010866,0.23920286595433948,0.71338606911949],"aabb_xy":[[0.5963673517416347,0.1892028669187478],[0.6963573736605387,0.2892028649899312]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[0.002417632458576513,-1.8470697693298441,0.71338606911949],"aabb_xy":[[-0.02049808042647339,-1.8699740664662678],[0.02533334534362642,-1.8241654721934208]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[-0.09556508629054383,0.9533218937284382,0.71338606911949],"aabb_xy":[[-0.16056508484761667,0.9235693603145555],[-0.030565087733470997,0.9830744271423207]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[0.02749830593815794,-1.1179617699477264,0.71338606911949],"aabb_xy":[[-0.05250169549196926,-1.197478924960336],[0.10749830736828514,-1.038444614935117]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_25","position":[-0.3365480001768057,0.05421897362732997,0.71338606911949],"aabb_xy":[[-0.3540480004361423,0.040127431438557355],[-0.31904799991746907,0.0683105158161026]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_26","position":[0.6788722324807404,-2.1084327485093004,0.71338606911949],"aabb_xy":[[0.6700701771717675,-2.116244074664229],[0.687674287789713,-2.100621422354371]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[-0.35566972039064976,-2.493699279002443,0.71338606911949],"aabb_xy":[[-0.3707720218516678,-2.5088008006335043],[-0.3405674189296316,-2.4785977573713804]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6709721069934045,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/87.png","name":"87"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/87.png","name":"87"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7277.png","name":"7277"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/306.png","name":"306"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8424.png","name":"8424"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5160.png","name":"5160"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":825.0914047754081,"rotation_z_degrees":96.17323434214356,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0096174396970895,0.0029574837700061495,-0.010635127217383737]},{"name":"camera_2","offset_m":[-0.012275109740023007,-0.006832218586356315,-0.004945420086527274]},{"name":"camera_3","offset_m":[-0.0015397566200908049,0.00961250076091592,0.01169956438276699]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012431934626388195,-0.0006999311753783956,0.000637308243855396],"end_effector_yaw_offset_degrees":0.26485506823551663},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003907639181079054,0.0008741318460696065,-0.0014767476071680173],"end_effector_yaw_offset_degrees":0.3332112829745342},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011275405716717345,-0.0017746009480296223,0.0010263187809474695],"end_effector_yaw_offset_degrees":-0.7622965138289659}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013661116351813872,0.004396811678643303],"position_m":[0.3135661116351814,0.012296811678643303,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002451916604109263,0.00023154676091523968],"position_m":[0.2729480833958907,-0.30816845323908476,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005310526418012673,-0.000842044402016893],"position_m":[0.16556894735819874,0.3036579555979831,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00463909124840625,0.0026181956057807574],"position_m":[0.33936090875159375,0.16491819560578075,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"287ffd82672262980c41639ab45e51c7232a0b56d64c206de878e151f13e5017","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_87/tex_ceiling_textures_5160/tex_floor_textures_8424/tex_table_textures_7277/tex_wall_textures_306","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":4406528672449978022,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":4406528672449978022,"visual_seed":4406528672449978022,"scene_id":"lab_003","finished_at":"2026-09-04T16:27:10"} +{"episode_id":"ep_000060","started_at":"2026-09-04T16:27:13","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[0.06491008366352358,-1.1738106322394541,0.71338606911949],"aabb_xy":[[0.054342604005424566,-1.1843556623524627],[0.07547756332162259,-1.1632656021264456]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[0.21046357081272626,1.1716835159294678,0.71338606911949],"aabb_xy":[[0.16046873788478466,1.1216835170342243],[0.26045840374066787,1.2216835148247114]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.409700938225455,-0.7972498955641933,0.71338606911949],"aabb_xy":[[-0.4737009389289244,-0.8432682780371145],[-0.34570093752198566,-0.7512315130912725]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.451866384981066,1.630744721461825,0.71338606911949],"aabb_xy":[[-0.531866388238909,1.5507482136698407],[-0.3718663817232231,1.7107412292538087]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.1338927733635472,-0.10305867221563769,0.71338606911949],"aabb_xy":[[-0.1563891947974113,-0.12555867202238513],[-0.11139635192968311,-0.08055867240889024]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.6953847524958874,0.3946393509747539,0.71338606911949],"aabb_xy":[[0.6919440762558303,0.39077791800038947],[0.6988254287359447,0.3985007839491184]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[-0.42799682741696365,-0.921267697758666,0.71338606911949],"aabb_xy":[[-0.4431597003939008,-0.9364331550537849],[-0.41283395444002663,-0.9061022404635474]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.49001496567994485,-2.3616346251289606,0.71338606911949],"aabb_xy":[[-0.5019477000417729,-2.37401677793682],[-0.4780822313181168,-2.3492524723211012]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.26427011491934604,0.9225288015100941,0.71338606911949],"aabb_xy":[[-0.28677011516286144,0.9103241668503222],[-0.24177011467583065,0.9347334361698661]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[0.099949305963274,-2.1578533439231107,0.71338606911949],"aabb_xy":[[0.06244930567109919,-2.161894819323714],[0.13744930625544882,-2.1538118685225065]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.6172181213096344,-1.3851471493130076,0.71338606911949],"aabb_xy":[[0.567233885601457,-1.4351471481265032],[0.6672023570178115,-1.335147150499512]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[0.4688473908653088,-2.1950436755628626,0.71338606911949],"aabb_xy":[[0.4088473902692926,-2.249856148108086],[0.528847391461325,-2.140231203017639]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[0.06071387884898216,1.1847926285086463,0.71338606911949],"aabb_xy":[[0.053672427898234565,1.1777658767708519],[0.06775532979972976,1.1918193802464407]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.169388786504719,-1.3921999866229005,0.71338606911949],"aabb_xy":[[-0.21040672989108988,-1.442199987253858],[-0.12837084311834812,-1.3421999859919433]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.6179262739968776,1.3708266145461439,0.71338606911949],"aabb_xy":[[0.5679488571316239,1.320826613056895],[0.6679036908621311,1.4208266160353922]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[0.41283992671514014,1.043077846234604,0.71338606911949],"aabb_xy":[[0.38169300787155697,0.9730778475477968],[0.4439868455587232,1.1130778449214112]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.11874831063678315,0.42549009723217956,0.71338606911949],"aabb_xy":[[-0.1685650901016179,0.37549009874787626],[-0.06893153117194839,0.475490095716483]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[0.39866132948422384,-0.6302017411376208,0.71338606911949],"aabb_xy":[[0.3852148028501805,-0.643671592790712],[0.41210785611826717,-0.6167318894845295]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.29335164237264,0.8115708917313507,0.71338606911949],"aabb_xy":[[-0.3111451493075564,0.7937711461355531],[-0.2755581354377235,0.8293706373271484]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.6301924048059956,-2.340677937767271,0.71338606911949],"aabb_xy":[[-0.6645086819806135,-2.3906779377404486],[-0.5958761276313777,-2.290677937794093]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.6614335976811903,-0.22747405505510487,0.71338606911949],"aabb_xy":[[0.6534396091034868,-0.2354741351501952],[0.6694275862588935,-0.2194739749600145]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.4812573501343578,0.0915097581311124,0.71338606911949],"aabb_xy":[[0.4735541594602807,0.08380038743237438],[0.48896054080843476,0.09921912882985039]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[-0.4311866020727591,-0.6366820555808683,0.71338606911949],"aabb_xy":[[-0.4348898634018979,-0.6403840738895862],[-0.4274833407436202,-0.6329800372721505]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[-0.6776934452458997,1.5839240676854662,0.71338606911949],"aabb_xy":[[-0.6849546928163072,1.5711370574219568],[-0.6704321976754924,1.5967110779489757]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[0.2829622900052421,1.7336894745445695,0.71338606911949],"aabb_xy":[[0.19296229350437025,1.6877778321261112],[0.37296228650611374,1.7796011169630277]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[-0.2089279076689401,1.021295968239571,0.71338606911949],"aabb_xy":[[-0.2729279097186721,0.9812014851502633],[-0.1449279056192081,1.0613904513288792]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[0.5572967881339992,0.7493561253137053,0.71338606911949],"aabb_xy":[[0.548515560986763,0.7405763780251752],[0.5660780152812356,0.7581358726022356]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[-0.11801681220660398,-1.288816703940834,0.71338606911949],"aabb_xy":[[-0.12926186777722182,-1.3000585016649293],[-0.10677175663598613,-1.2775749062167387]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_28","position":[0.48751378195682715,-0.2908027550222072,0.71338606911949],"aabb_xy":[[0.43763108507913107,-0.34080275426848194],[0.5373964788345235,-0.24080275577593246]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[-0.13360108586035369,0.12945925030377925,0.71338606911949],"aabb_xy":[[-0.19760108753835104,0.08094185882446503],[-0.06960108418235633,0.17797664178309347]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_30","position":[0.2539831907844684,-1.7544279974858898,0.71338606911949],"aabb_xy":[[0.1739831921275824,-1.7689328564101525],[0.3339831894413544,-1.7399231385616272]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6765237398584459,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9615.png","name":"9615"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9615.png","name":"9615"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9097.png","name":"9097"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/949.png","name":"949"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1202.png","name":"1202"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8839.png","name":"8839"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":579.7860747634708,"rotation_z_degrees":259.96893384072933,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01651246348973559,0.013049945088480407,-0.002022322912249939]},{"name":"camera_2","offset_m":[-0.014374903683489433,-0.012779684844369723,-0.005734105766808915]},{"name":"camera_3","offset_m":[0.006614746860458608,-0.009648119450394833,0.015561022406088237]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005128882460878176,0.0002707703896773499,0.0018876281076049654],"end_effector_yaw_offset_degrees":0.2529367343489901},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019460539832484207,-0.0015456166178068709,0.0017009589904542766],"end_effector_yaw_offset_degrees":0.833184548459835},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005667749321061381,-0.00033198670137757845,-5.362156421704657e-05],"end_effector_yaw_offset_degrees":-0.2944813512247071}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027557216195834744,-0.0034535649564888184],"position_m":[0.3094442783804165,0.004446435043511183,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003275256663078694,-0.0007744609592950395],"position_m":[0.2786752566630787,-0.30917446095929507,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004658410750228792,0.003948527520536072],"position_m":[0.16656584107502287,0.3084485275205361,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003381372376128083,0.0015940770994795714],"position_m":[0.3406186276238719,0.16389407709947956,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a814ce4f552981d88dc181f9a972a05b6585a7f681147e364d4215ed2b4deb91","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0060.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9615/tex_ceiling_textures_8839/tex_floor_textures_1202/tex_table_textures_9097/tex_wall_textures_949","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":842584460219857440,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":842584460219857440,"visual_seed":842584460219857440,"scene_id":"lab_003","finished_at":"2026-09-04T16:29:54"} +{"episode_id":"ep_000061","started_at":"2026-09-04T16:29:57","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.05488240884280782,-1.0921422913716028,0.71338606911949],"aabb_xy":[[-0.06290867947343382,-1.1008937863489554],[-0.046856138212181826,-1.0833907963942502]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[-0.18545137320625482,-1.4715914994510593,0.71338606911949],"aabb_xy":[[-0.22045137310227367,-1.4799657349629993],[-0.15045137331023592,-1.4632172639391192]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[-0.06011524916000133,1.1115659165140062,0.71338606911949],"aabb_xy":[[-0.08262894098345852,1.0415659159129986],[-0.03760155733654413,1.1815659171150137]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[0.5577229804303274,1.7409981277593256,0.71338606911949],"aabb_xy":[[0.5242828052343076,1.7075545019283953],[0.5911631556263468,1.7744417535902555]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.24799519168889328,1.5745502943079814,0.71338606911949],"aabb_xy":[[0.22299519213715477,1.564407810442847],[0.27299519124063176,1.5846927781731164]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[-0.10644256586772527,0.3157929978423568,0.71338606911949],"aabb_xy":[[-0.14235607029271496,0.2798794896256022],[-0.07052906144273557,0.3517065060591114]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[0.6941445346460469,-0.19210290199282865,0.71338606911949],"aabb_xy":[[0.6888069589800423,-0.21710290292196843],[0.6994821103120514,-0.16710290106368886]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[0.38181503044328724,-0.5709180742269884,0.71338606911949],"aabb_xy":[[0.32681503126669775,-0.6259077490019459],[0.4368150296198767,-0.5159283994520306]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.4394678824209288,-1.9556380505458009,0.71338606911949],"aabb_xy":[[-0.4507129379915466,-1.966879848269896],[-0.42822282685031093,-1.9443962528217054]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[0.02477309442276887,-1.3129914157983937,0.71338606911949],"aabb_xy":[[-0.039226904747001065,-1.3597581029173562],[0.08877309359253881,-1.2662247286794313]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.48781189263943725,-0.45453930251032926,0.71338606911949],"aabb_xy":[[0.4772444129813382,-0.46508433262333776],[0.4983793722975362,-0.44399427239732064]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[-0.45106200774510474,-0.887043630673596,0.71338606911949],"aabb_xy":[[-0.464508534379148,-0.9005134823266874],[-0.43761548111106136,-0.8735737790205049]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.15658747906875847,-2.3536265774015352,0.71338606911949],"aabb_xy":[[0.10945810006692278,-2.4176265784459368],[0.20371685807059411,-2.289626576357133]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[-0.2931941259273572,-2.5310309393919903,0.71338606911949],"aabb_xy":[[-0.3106940593613405,-2.5485309393122244],[-0.27569419249337374,-2.5135309394717553]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[-0.14924424866886854,-1.0039439915922699,0.71338606911949],"aabb_xy":[[-0.16952855139226727,-1.0242266167349785],[-0.12895994594546975,-0.9836613664495609]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[0.471301152663941,0.9661231274765458,0.71338606911949],"aabb_xy":[[0.4630866075482569,0.9574465371789044],[0.4795156977796249,0.9747997177741871]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.06701678776988607,-2.052587027371928,0.71338606911949],"aabb_xy":[[0.02576797673997133,-2.1075870268841452],[0.10826559879980079,-1.9975870278597105]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.1252844529515471,0.7044135178252842,0.71338606911949],"aabb_xy":[[0.09282275206961961,0.6742806857103815],[0.1577461538334745,0.7345463499401866]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[-0.5550508295156164,-2.355104896362453,0.71338606911949],"aabb_xy":[[-0.5658238034369841,-2.390104894581492],[-0.5442778555942486,-2.320104898143414]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[0.33517768384742097,0.6003174120329331,0.71338606911949],"aabb_xy":[[0.29832713591043336,0.5628174112098994],[0.3720282317844086,0.6378174128559668]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[0.6398267219343139,-1.8647516819691141,0.71338606911949],"aabb_xy":[[0.6357485640272642,-1.8688326622173774],[0.6439048798413636,-1.8606707017208508]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[0.5025121528091894,-2.149917376383876,0.71338606911949],"aabb_xy":[[0.4225121542218699,-2.2292329783220364],[0.5825121513965087,-2.0706017744457146]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_22","position":[-0.5991194283451302,-2.0766395567091864,0.71338606911949],"aabb_xy":[[-0.6044519429997433,-2.081963884954422],[-0.5937869136905172,-2.0713152284639507]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[0.3461167877127258,0.8714592839081998,0.71338606911949],"aabb_xy":[[0.30861678789569225,0.866821072597058],[0.38361678752975936,0.8760974952193417]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[-0.5983359107395271,-0.16061373985594773,0.71338606911949],"aabb_xy":[[-0.6883359074751373,-0.21379720317324222],[-0.5083359140039169,-0.1074302765386532]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[-0.5033576125112472,-2.575516564280609,0.71338606911949],"aabb_xy":[[-0.5073180962809816,-2.5831844288661294],[-0.4993971287415129,-2.567848699695088]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_26","position":[-0.41816999838342017,1.7610849716707357,0.71338606911949],"aabb_xy":[[-0.423751670017549,1.74858497185296],[-0.41258832674929147,1.773584971488511]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[0.6137797502752205,0.007575331725218959,0.71338606911949],"aabb_xy":[[0.5762797499269927,-0.004216063855864594],[0.6512797506234482,0.01936672730630251]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_28","position":[0.22529246460686425,1.2345479084796165,0.71338606911949],"aabb_xy":[[0.16529246374605142,1.1831214784731297],[0.285292465467677,1.2859743384861024]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[-0.15181016362317823,0.8490878987675154,0.71338606911949],"aabb_xy":[[-0.16317189827646436,0.8377194323612273],[-0.14044842896989204,0.8604563651738034]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_30","position":[-0.41674350572294216,0.8786117634851545,0.71338606911949],"aabb_xy":[[-0.4580480487866781,0.8146117639170374],[-0.3754389626592061,0.9426117630532715]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6721576858060603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9553.png","name":"9553"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9553.png","name":"9553"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/483.png","name":"483"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/670.png","name":"670"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6374.png","name":"6374"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9879.png","name":"9879"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":798.8711378391006,"rotation_z_degrees":167.07748670717524,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0004895097101077772,0.018925699037742823,0.01739815817340262]},{"name":"camera_2","offset_m":[-0.014873805416405057,-0.005565181826828863,-0.016771435787233654]},{"name":"camera_3","offset_m":[0.00167051743765061,-0.014712341358137869,0.014776349631631224]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006705775905922438,0.0013664236345944949,0.0013646768799899203],"end_effector_yaw_offset_degrees":0.2849933282966064},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005920660303332533,0.00016573907306368946,-0.0016439217798944585],"end_effector_yaw_offset_degrees":-0.16186143580363743},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00039562728486802106,-0.00011960510194044312,0.0019396822705344584],"end_effector_yaw_offset_degrees":-0.07595223873051049}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036385806358186956,-0.0021377677961031696],"position_m":[0.3085614193641813,0.005762232203896831,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[7.642421449109964e-05,0.0025569357842197913],"position_m":[0.2754764242144911,-0.3058430642157802,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004977044535515799,-0.000628376345917476],"position_m":[0.1710770445355158,0.3038716236540825,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016300855900016663,-0.0048029734434499715],"position_m":[0.34563008559000163,0.15749702655655004,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c864fa5b93b8360f4d8e14b905b9ca5a36c235a1d218e9f028146948d69c4d31","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9553/tex_ceiling_textures_9879/tex_floor_textures_6374/tex_table_textures_483/tex_wall_textures_670","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":4511810684953501347,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":4511810684953501347,"visual_seed":4511810684953501347,"scene_id":"lab_003","finished_at":"2026-09-04T16:32:31"} +{"episode_id":"ep_000062","started_at":"2026-09-04T16:32:34","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.028330583702432577,-2.45775381737381,0.71338606911949],"aabb_xy":[[0.011228505744064417,-2.474860622905079],[0.04543266166080073,-2.4406470118425396]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.551525221867297,-2.5311828124720708,0.71338606911949],"aabb_xy":[[0.4615252232728271,-2.547433398785492],[0.641525220461767,-2.5149322261586504]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[-0.19140361025782016,0.7626845596529526,0.71338606911949],"aabb_xy":[[-0.2764036089498948,0.7306986962580736],[-0.10640361156574549,0.7946704230478313]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.3888727844984337,-1.5828920628715888,0.71338606911949],"aabb_xy":[[-0.4113727850104743,-1.6053839212369874],[-0.3663727839863931,-1.5604002045061907]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.4042560616584141,-0.15146333040675675,0.71338606911949],"aabb_xy":[[0.3961283734651009,-0.1603769388174644],[0.4123837498517273,-0.1425497219960491]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.6895940771491287,-0.16987814031103454,0.71338606911949],"aabb_xy":[[0.6761475505150853,-0.18334799196412577],[0.703040603783172,-0.15640828865794332]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.5713929694187799,1.037499816650226,0.71338606911949],"aabb_xy":[[-0.6610800457268954,0.9474998163957755],[-0.4817058931106645,1.1274998169046766]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.5380387203953565,-1.8610125990137734,0.71338606911949],"aabb_xy":[[-0.584123811650088,-1.9250125962663285],[-0.49195362914062507,-1.7970126017612182]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[0.4501811791133854,1.579845944059095,0.71338606911949],"aabb_xy":[[0.400198228925906,1.5298459444165347],[0.5001641293008646,1.6298459437016555]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.16734766671234647,1.7452790628570045,0.71338606911949],"aabb_xy":[[0.1559859320590603,1.7339105964507162],[0.17870940136563263,1.7566475292632924]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.4008152166785406,1.3948091796246458,0.71338606911949],"aabb_xy":[[0.368353515796613,1.364676347509743],[0.43327691756046793,1.4249420117395482]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.43846309855834437,-1.4431905268751346,0.71338606911949],"aabb_xy":[[-0.47194226581938536,-1.4766696402462416],[-0.4049839312973035,-1.4097114135040276]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.045086361733311375,0.17857833546416524,0.71338606911949],"aabb_xy":[[-0.08008636162933025,0.1702040999522253],[-0.010086361837292506,0.18695257097610518]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.4611487036692188,-1.347166879932265,0.71338606911949],"aabb_xy":[[-0.46926235834259583,-1.355272696386294],[-0.4530350489958416,-1.3390610634782358]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[-0.3701177990673261,1.1146478713397712,0.71338606911949],"aabb_xy":[[-0.3913958072107983,1.049647869013698],[-0.3488397909238538,1.1796478736658442]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[0.6811788917413835,1.372051489348367,0.71338606911949],"aabb_xy":[[0.6608945890179846,1.351768864205658],[0.7014631944647821,1.3923341144910757]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[-0.14434908538826885,-2.1763206844345606,0.71338606911949],"aabb_xy":[[-0.17934908365838872,-2.1833948121295483],[-0.10934908711814892,-2.169246556739572]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.6732275434045671,1.0070682812818275,0.71338606911949],"aabb_xy":[[0.6645135743546325,0.9845682806226391],[0.6819415124545015,1.0295682819410155]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[-0.3763402737493489,1.4749237868192844,0.71338606911949],"aabb_xy":[[-0.38949151972063834,1.449923787062598],[-0.36318902777805956,1.4999237865759711]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[-0.2613651844114033,1.4508842275234222,0.71338606911949],"aabb_xy":[[-0.3113384784146637,1.4008842269688746],[-0.21139189040814282,1.5008842280779693]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.5617870725327905,-1.3782692335714564,0.71338606911949],"aabb_xy":[[0.5435812488715428,-1.389294634153448],[0.5799928961940382,-1.3672438329894647]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[0.5065874493615559,-1.228852425552053,0.71338606911949],"aabb_xy":[[0.5011295037245358,-1.3088524288597119],[0.5120453949985759,-1.1488524222443937]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.44037807907047105,0.5510266078934811,0.71338606911949],"aabb_xy":[[-0.5043780797739403,0.5050082254205602],[-0.3763780783670017,0.5970449903664022]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[0.09178110847274079,-1.1436287559087073,0.71338606911949],"aabb_xy":[[0.026781110316821732,-1.1699250004586195],[0.15678110662865985,-1.117332511358795]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.48669398778519324,0.1533230711477387,0.71338606911949],"aabb_xy":[[-0.5666939863725126,0.07400746920957778],[-0.40669398919787375,0.23263867308589956]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[-0.24998049245969928,-1.7035905987602975,0.71338606911949],"aabb_xy":[[-0.31998049509628557,-1.7236954637561628],[-0.1799804898231129,-1.6834857337644318]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6758852360966608,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4888.png","name":"4888"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4888.png","name":"4888"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3300.png","name":"3300"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6663.png","name":"6663"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9764.png","name":"9764"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6343.png","name":"6343"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":670.7753688537896,"rotation_z_degrees":92.75109829391884,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01412840202452244,-0.0057244004783794464,0.015117191538931322]},{"name":"camera_2","offset_m":[-0.01637223565533569,-0.009017003969917123,0.0074918733885830716]},{"name":"camera_3","offset_m":[-0.0020647363619692473,0.001748724917766821,-0.005228782064557404]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018803934182684225,0.0017552549109005572,-0.0011288346506191731],"end_effector_yaw_offset_degrees":-0.7983960563720067},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015993907368617014,0.0013861062298277157,-0.0014362275972281914],"end_effector_yaw_offset_degrees":-0.24401346026570114},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012347751324697284,-0.001488271168434827,3.980537564883882e-07],"end_effector_yaw_offset_degrees":-0.7786349776271546}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034861897095140515,-0.00013391846269353302],"position_m":[0.30871381029048595,0.007766081537306468,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002580019711715507,-0.0007303120110234741],"position_m":[0.2779800197117155,-0.3091303120110235,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004093541823198801,-0.001746243173043035],"position_m":[0.1701935418231988,0.30275375682695693,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00027483784101249836,0.0043435227128883385],"position_m":[0.34372516215898746,0.16664352271288835,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d742cc533e10ac47d7615b54b1e5b654ce894306437df8caa464c6d35f972084","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4888/tex_ceiling_textures_6343/tex_floor_textures_9764/tex_table_textures_3300/tex_wall_textures_6663","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":9174511186601882743,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":9174511186601882743,"visual_seed":9174511186601882743,"scene_id":"lab_003","finished_at":"2026-09-04T16:35:12"} +{"episode_id":"ep_000063","started_at":"2026-09-04T16:35:16","dimensions":{"distractor":{"count":34,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.4609279684871963,-1.4732749196542785,0.71338606911949],"aabb_xy":[[0.37092796615317725,-1.550757274239391],[0.5509279708212154,-1.3957925650691656]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[-0.40321300590692144,1.426483573067793,0.71338606911949],"aabb_xy":[[-0.4119109681976368,1.4143585987603182],[-0.3945150436162062,1.4386085473752677]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[0.6352994862968768,-2.181912163879621,0.71338606911949],"aabb_xy":[[0.6244478800480012,-2.1927714546072723],[0.6461510925457524,-2.17105287315197]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.17363396810866827,-1.4749778057059744,0.71338606911949],"aabb_xy":[[0.15113396858496084,-1.4974737531565951],[0.19613396763237564,-1.4524818582553536]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.07717049569882395,-2.1149717285546874,0.71338606911949],"aabb_xy":[[0.06580876104553778,-2.126340194960975],[0.0885322303521101,-2.103603262148399]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.382078942414696,1.2045669835924513,0.71338606911949],"aabb_xy":[[0.37199723533612244,1.1245669857003366],[0.3921606494932694,1.284566981484566]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[0.6071668815139815,1.67173549017012,0.71338606911949],"aabb_xy":[[0.5371668851040196,1.6512975545184378],[0.6771668779239431,1.6921734258218013]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[0.22128340571545135,-1.6327725639658044,0.71338606911949],"aabb_xy":[[0.15728340654568138,-1.6795392510847666],[0.28528340488522125,-1.5860058768468417]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[0.5923305365840945,-1.0529134657710242,0.71338606911949],"aabb_xy":[[0.5423572425808341,-1.1029134663255713],[0.642303830587355,-1.0029134652164766]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[-0.6103659278308378,1.0142432195972866,0.71338606911949],"aabb_xy":[[-0.6564510190855691,0.9502432223447316],[-0.5642808365761062,1.0782432168498417]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.4739777349127292,0.768638853965748,0.71338606911949],"aabb_xy":[[0.3939777327499668,0.6886836703396043],[0.5539777370754917,0.8485940375918916]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.3349741091037827,-1.0219655049251781,0.71338606911949],"aabb_xy":[[-0.3441339880476593,-1.0284967229687152],[-0.3258142301599061,-1.015434286881641]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.06735806704836056,-1.3575411217117415,0.71338606911949],"aabb_xy":[[-0.11735806806749585,-1.3940073374495694],[-0.017358066029225298,-1.3210749059739135]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.23455429225894053,0.9191966630108479,0.71338606911949],"aabb_xy":[[0.18457005655076328,0.8691966641973522],[0.28453852796711776,0.9691966618243434]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[-0.5859093493702007,-2.046366170888775,0.71338606911949],"aabb_xy":[[-0.6061936520935993,-2.0666487960314837],[-0.5656250466468018,-2.0260835457460655]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.004781314786911461,1.5316384452467946,0.71338606911949],"aabb_xy":[[-0.025702935340118693,1.4816384454652987],[0.035265564913941616,1.5816384450282905]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[0.3504033779068434,-1.2317200871334613,0.71338606911949],"aabb_xy":[[0.31355282996985584,-1.269220087956495],[0.38725392584383106,-1.1942200863104275]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[-0.21418792041072005,1.583561175478708,0.71338606911949],"aabb_xy":[[-0.30418791900519004,1.5673105891652872],[-0.12418792181625013,1.5998117617921292]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[-0.6783754490396502,0.6084692945419761,0.71338606911949],"aabb_xy":[[-0.6825113053723504,0.5709692950976192],[-0.67423959270695,0.6459692939863332]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[-0.15869746409360042,1.407298426108127,0.71338606911949],"aabb_xy":[[-0.18197930629173173,1.3222984248108989],[-0.13541562189546905,1.492298427405355]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.12917729179086523,-1.1007676289584571,0.71338606911949],"aabb_xy":[[0.12213698185732827,-1.1807676283581288],[0.13621760172440225,-1.020767629558786]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.13271197128325662,-1.630341772717601,0.71338606911949],"aabb_xy":[[-0.1967119683953623,-1.6793741425120117],[-0.06871197417115094,-1.5813094029231904]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.546665894072814,1.5994768387500584,0.71338606911949],"aabb_xy":[[-0.6042963629600847,1.5394768398233474],[-0.489035425185543,1.6594768376767686]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[0.5472243501349172,1.2066137307992144,0.71338606911949],"aabb_xy":[[0.4832243508407489,1.1426275904303602],[0.6112243494290853,1.2705998711680686]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[-0.49321769687809625,-0.6908369626844584,0.71338606911949],"aabb_xy":[[-0.5582176978352235,-0.7427851746181638],[-0.4282176959209691,-0.6388887507507527]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[0.5572956131718567,0.37285869560624363,0.71338606911949],"aabb_xy":[[0.5526604980196232,0.3689913605290949],[0.56193072832409,0.3767260306833922]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.47912933740571084,0.40088246795507576,0.71338606911949],"aabb_xy":[[-0.513720420259756,0.33588246767004465],[-0.44453825455166557,0.46588246824010676]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_27","position":[0.12627669168105637,-0.8368476478239149,0.71338606911949],"aabb_xy":[[0.06227669142058558,-0.8818564471768429],[0.1902766919415272,-0.7918388484709868]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_28","position":[0.3258940811762505,-2.263595642670489,0.71338606911949],"aabb_xy":[[0.24089408248417588,-2.2955815060653677],[0.41089407986832516,-2.23160977927561]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[0.2648130967859428,1.544310104791212,0.71338606911949],"aabb_xy":[[0.2176837177841071,1.4803101037468098],[0.31194247578777845,1.6083101058356137]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_30","position":[-0.4582043750350355,0.06483120128700515,0.71338606911949],"aabb_xy":[[-0.4957043752069074,0.03213046590409796],[-0.42070437486316353,0.09753193666991233]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_31","position":[0.08961248806501176,-2.375246749444191,0.71338606911949],"aabb_xy":[[0.06461248851327327,-2.3853892333093256],[0.11461248761675023,-2.365104265579056]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_32","position":[-0.6547351553360805,1.1299067340566697,0.71338606911949],"aabb_xy":[[-0.661047254872419,1.1241397948034508],[-0.6484230557997422,1.1356736733098887]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_33","position":[-0.6488600964156374,-0.615889383518734,0.71338606911949],"aabb_xy":[[-0.6838600946857573,-0.6229635112137222],[-0.6138600981455175,-0.6088152558237458]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700177568689429,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1614.png","name":"1614"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1614.png","name":"1614"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/252.png","name":"252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9750.png","name":"9750"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5608.png","name":"5608"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7735.png","name":"7735"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":598.1316932685249,"rotation_z_degrees":314.01173642525947,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009324806930617754,0.012982574576021363,0.01347391584533775]},{"name":"camera_2","offset_m":[-0.007039104700477448,0.00888745447310662,-0.011073325043599104]},{"name":"camera_3","offset_m":[0.011553788711628151,-0.019952112813005036,0.019574782395039073]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009209656024150709,-0.00014414677273469063,-0.0006204426163043384],"end_effector_yaw_offset_degrees":0.43673366072936504},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012202679442991542,0.0004949506278906801,-0.0016212374061039393],"end_effector_yaw_offset_degrees":-0.8084269569267744},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015331602320204198,0.0011954257754917407,0.0008377285377869515],"end_effector_yaw_offset_degrees":-0.21391797180546535}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037108041835174797,0.002247159522857642],"position_m":[0.3084891958164825,0.010147159522857642,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032519085758556613,0.0007622251077859573],"position_m":[0.2721480914241443,-0.30763777489221406,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007082168828344585,-0.0010972967559373737],"position_m":[0.16539178311716554,0.3034027032440626,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013071843549709063,0.002126807537859511],"position_m":[0.3453071843549709,0.16442680753785952,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"66a50c6eddf99e3bbca07e23e0389e09a1a96d247ed0939422a6d96089c6104a","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1614/tex_ceiling_textures_7735/tex_floor_textures_5608/tex_table_textures_252/tex_wall_textures_9750","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3374001462074062097,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3374001462074062097,"visual_seed":3374001462074062097,"scene_id":"lab_003","finished_at":"2026-09-04T16:37:52"} +{"episode_id":"ep_000064","started_at":"2026-09-04T16:37:55","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[-0.5430689834573437,-1.1954716327318446,0.71338606911949],"aabb_xy":[[-0.598068982633933,-1.250461307506802],[-0.48806898428075407,-1.1404819579568868]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[0.3435505045177254,-1.671801791051159,0.71338606911949],"aabb_xy":[[0.3210857345463203,-1.6943017919300194],[0.3660152744891305,-1.6493017901722984]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[-0.12490088566537672,-0.9737176278876234,0.71338606911949],"aabb_xy":[[-0.15529899676452028,-1.0041245298892927],[-0.09450277456623311,-0.9433107258859538]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.3379769647536792,-2.3331042895141354,0.71338606911949],"aabb_xy":[[0.2829769665519344,-2.3736262561405725],[0.39297696295542406,-2.2925823228876974]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[0.4995436105939539,0.6135262385327116,0.71338606911949],"aabb_xy":[[0.43554360918596313,0.5617372870087868],[0.5635436120019444,0.6653151900566362]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[-0.11038269656917155,0.029451218651889377,0.71338606911949],"aabb_xy":[[-0.11840896719979754,0.020699723674536763],[-0.10235642593854555,0.03820271362924199]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[0.014398114995126998,-1.2316303922116365,0.71338606911949],"aabb_xy":[[-0.05060188356194584,-1.2613829256255191],[0.07939811355219983,-1.2018778587977539]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[0.4671882492638251,1.6852493848139551,0.71338606911949],"aabb_xy":[[0.4031882500940551,1.6384826976949929],[0.531188248433595,1.7320160719329178]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.16093323479033672,0.5455659383336933,0.71338606911949],"aabb_xy":[[-0.21081593166803297,0.4955659390874185],[-0.11105053791264055,0.595565937579968]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[0.5527274924463681,-2.1816640181674467,0.71338606911949],"aabb_xy":[[0.5027274938004469,-2.231583561826909],[0.6027274910922893,-2.1317444745079843]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[0.24035356723297718,-1.827755909092481,0.71338606911949],"aabb_xy":[[0.2362376171209045,-1.8318714641253269],[0.24446951734504982,-1.8236403540596358]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.7120188278100981,-1.2608296619959032,0.71338606911949],"aabb_xy":[[0.7040248392323946,-1.2688297420909933],[0.7200128163878013,-1.2528295819008126]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[0.16210235672403484,-0.925182025511333,0.71338606911949],"aabb_xy":[[0.1572030644174713,-0.9528589448139015],[0.1670016490305983,-0.897505106208764]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[-0.48067769447244135,-1.5734654443884444,0.71338606911949],"aabb_xy":[[-0.5106693572063117,-1.603465443725245],[-0.45068603173857097,-1.5434654450516438]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[-0.337228038089204,1.620960479361163,0.71338606911949],"aabb_xy":[[-0.3872230490486561,1.5709604803255712],[-0.287233027129752,1.6709604783967547]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.46457815296222393,0.4751095658665978,0.71338606911949],"aabb_xy":[[-0.4694217477234539,0.47025791338761375],[-0.45973455820099396,0.479961218345582]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[-0.589880561964449,0.20802281144059886,0.71338606911949],"aabb_xy":[[-0.6243430399775367,0.20135913425767601],[-0.5554180839513612,0.21468648862352166]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[-0.27933898665354984,0.5447544222055374,0.71338606911949],"aabb_xy":[[-0.2834171445605996,0.5406734419572741],[-0.2752608287465001,0.5488354024538007]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[0.5039278173303541,-1.9596224274118224,0.71338606911949],"aabb_xy":[[0.4439278167343378,-2.0144348999570454],[0.5639278179263701,-1.9048099548665987]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.5501394111548353,0.12537589750463507,0.71338606911949],"aabb_xy":[[-0.5874706876800779,0.09072284270978276],[-0.5128081346295927,0.16002895229948738]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.4356185316732062,0.41297654453265853,0.71338606911949],"aabb_xy":[[0.4131221102393421,0.39047654472591103],[0.4581149531070703,0.4354765443394059]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[-0.6377474347039889,0.5966384046313484,0.71338606911949],"aabb_xy":[[-0.6551781497829954,0.5793662899674975],[-0.6203167196249824,0.6139105192951991]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[-0.3741313653045129,1.0200157145523057,0.71338606911949],"aabb_xy":[[-0.3892336667655309,1.0049141929212435],[-0.3590290638434947,1.0351172361833674]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[-0.46582669778856267,0.279773297813227,0.71338606911949],"aabb_xy":[[-0.47829405589829826,0.2673079731799035],[-0.45335933967882697,0.2922386224465505]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[0.5225565844850308,-0.6165391662566697,0.71338606911949],"aabb_xy":[[0.5050566510510474,-0.6340391661769041],[0.5400565179190141,-0.5990391663364351]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[-0.5743746345232568,-0.053276411756680186,0.71338606911949],"aabb_xy":[[-0.5835345134671333,-0.05980762980021719],[-0.5652147555793801,-0.04674519371314317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6754431727755245,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6639.png","name":"6639"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6639.png","name":"6639"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2806.png","name":"2806"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2225.png","name":"2225"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6621.png","name":"6621"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7263.png","name":"7263"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":827.7352781405216,"rotation_z_degrees":32.00608006825763,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[3.016469129168975e-05,-0.011375489408244102,-0.003008756888501312]},{"name":"camera_2","offset_m":[0.01673874459908718,0.004134924876551732,-0.0046177305419372455]},{"name":"camera_3","offset_m":[0.018618429713035938,-0.017496146522955947,-0.017710498102867997]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-8.99384372654822e-05,-0.001985872739706173,-0.0010246401884845577],"end_effector_yaw_offset_degrees":-0.8563757927549285},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001694000603207923,-0.00046816094885665516,0.0004945709906979232],"end_effector_yaw_offset_degrees":-0.6595893245411075},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002373667433966831,-0.0004160714239348558,-0.0008826054947665973],"end_effector_yaw_offset_degrees":-0.3814772210832642}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024678850626313163,0.0019145522876711871],"position_m":[0.31466788506263127,0.009814552287671188,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005389432552780756,-0.003711390349238711],"position_m":[0.27593894325527807,-0.31211139034923874,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004152445168227201,1.835859051066077e-05],"position_m":[0.1619475548317728,0.30451835859051063,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020276090951450976,-0.0036543741979179556],"position_m":[0.3419723909048549,0.15864562580208205,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ad7e9aa712b9a64699ef82de96b74fe702142aac08f30103f4292ddfc070c3b8","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6639/tex_ceiling_textures_7263/tex_floor_textures_6621/tex_table_textures_2806/tex_wall_textures_2225","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6269457562771151913,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6269457562771151913,"visual_seed":6269457562771151913,"scene_id":"lab_003","finished_at":"2026-09-04T16:40:34"} +{"episode_id":"ep_000065","started_at":"2026-09-04T16:40:37","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.15092669266706893,1.0854733950190631,0.71338606911949],"aabb_xy":[[-0.20092152559501056,1.0354733961238196],[-0.10093185973912736,1.1354733939143067]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[-0.6359760527403244,-1.0511527294660463,0.71338606911949],"aabb_xy":[[-0.6400542106473741,-1.0552337097143096],[-0.6318978948332747,-1.047071749217783]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[-0.07816896123962258,-1.932546561940875,0.71338606911949],"aabb_xy":[[-0.14816896284190206,-1.9459793551425324],[-0.008168959637343098,-1.9191137687392172]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.38271433154047807,1.519279928018547,0.71338606911949],"aabb_xy":[[-0.4443050907644709,1.4552799299095],[-0.32112357231648525,1.5832799261275938]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.2637704662906881,0.8424516231766681,0.71338606911949],"aabb_xy":[[0.22627046771506729,0.8297153275131102],[0.3012704648663089,0.855187918840226]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[0.40220668257699943,-1.5534126401863002,0.71338606911949],"aabb_xy":[[0.3940930279036224,-1.5615184566403293],[0.4103203372503766,-1.5453068237322711]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[-0.36881053815219933,1.7580002699363022,0.71338606911949],"aabb_xy":[[-0.39714024810073956,1.7535395277425851],[-0.3404808282036591,1.7624610121300193]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.6213171246293147,1.355011009064842,0.71338606911949],"aabb_xy":[[-0.6763093752648256,1.300011007321529],[-0.5663248739938037,1.4100110108081545]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.08104576340650649,0.29608746954158827,0.71338606911949],"aabb_xy":[[-0.13104576469034646,0.24610861515096613],[-0.03104576212266653,0.3460663239322103]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.22010199878484582,-1.6381588901574633,0.71338606911949],"aabb_xy":[[0.2124777306946676,-1.645792113694007],[0.2277262668750241,-1.6305256666209196]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.05975746125243486,-1.0195025089739354,0.71338606911949],"aabb_xy":[[0.05605419992329599,-1.0232045272826533],[0.06346072258157372,-1.0158004906652174]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.22583644233477096,1.3630978650968455,0.71338606911949],"aabb_xy":[[-0.26333644351956365,1.3586796424007845],[-0.1883364411499781,1.3675160877929056]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[0.5420703849567825,-1.9975019514881378,0.71338606911949],"aabb_xy":[[0.47807038261398077,-2.0424428027322694],[0.6060703872995838,-1.9525611002440049]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.631101290302685,-2.2274794204800936,0.71338606911949],"aabb_xy":[[-0.6670147947276747,-2.263392928696848],[-0.5951877858776954,-2.1915659122633384]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.48711491850683974,-0.13940185599604416,0.71338606911949],"aabb_xy":[[-0.5246149183238733,-0.14404006730718602],[-0.4496149186898062,-0.1347636446849023]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[0.03130855431942969,-1.2712155518929875,0.71338606911949],"aabb_xy":[[-0.009995988744306294,-1.3352155514611046],[0.07261309738316568,-1.2072155523248704]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.6813855225701616,-1.7095129946674752,0.71338606911949],"aabb_xy":[[-0.6878871590781662,-1.7192808166937852],[-0.674883886062157,-1.6997451726411656]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[0.4390005181697816,1.0191718753028018,0.71338606911949],"aabb_xy":[[0.37900051730896867,0.9677454452963153],[0.4990005190305943,1.070598305309288]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.10824084540892098,1.7456657998878726,0.71338606911949],"aabb_xy":[[0.07959151304850474,1.7170202406107966],[0.1368901777693372,1.7743113591649482]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.04228423725671937,-0.6626846088656839,0.71338606911949],"aabb_xy":[[-0.03771576381640095,-0.6724626552030684],[0.1222842383298397,-0.6529065625282995]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.3308590952907867,0.837715019944179,0.71338606911949],"aabb_xy":[[-0.3390736404064706,0.8290384296465375],[-0.32264455017510263,0.8463916102418202]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[-0.3725976634549989,-0.43852997327999077,0.71338606911949],"aabb_xy":[[-0.4425976660915852,-0.4586348382758562],[-0.3025976608184125,-0.4184251082841252]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[-0.23647359076305963,0.8516759359443151,0.71338606911949],"aabb_xy":[[-0.2473251970119352,0.8408166452166641],[-0.225621984514184,0.8625352266719661]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[-0.4042363125841775,-1.78552352077425,0.71338606911949],"aabb_xy":[[-0.4682363146339096,-1.8256180038635579],[-0.3402363105344456,-1.745429037684942]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.3802289994915038,-2.2477786799425217,0.71338606911949],"aabb_xy":[[0.33025019098118785,-2.2977786799482405],[0.4302078080018196,-2.197778679936803]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_25","position":[-0.5573265802970837,1.1700643398377486,0.71338606911949],"aabb_xy":[[-0.5688955610440202,1.1450643397208171],[-0.545757599550147,1.1950643399546805]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_26","position":[0.3202677019923048,-1.8104940976846686,0.71338606911949],"aabb_xy":[[0.2552677041106571,-1.8616177613912097],[0.3852676998739527,-1.759370433978128]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_27","position":[-0.6395263041136283,0.3817879073819772,0.71338606911949],"aabb_xy":[[-0.6448638797796329,0.3567879064528374],[-0.6341887284476238,0.406787908311117]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[0.44244094134370693,0.7628394119377844,0.71338606911949],"aabb_xy":[[0.362440942686821,0.7483345530135216],[0.5224409400005929,0.7773442708620472]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[-0.2416234549214264,1.632864044287436,0.71338606911949],"aabb_xy":[[-0.2720215660205699,1.6024571422857665],[-0.21122534382228278,1.6632709462891055]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_30","position":[-0.14451408967103896,-0.01732226518033153,0.71338606911949],"aabb_xy":[[-0.16951408922277744,-0.027464749045466252],[-0.11951409011930048,-0.007179781315196809]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_31","position":[-0.5858844466073214,-0.41855375136161,0.71338606911949],"aabb_xy":[[-0.6035600771959196,-0.43623396764101274],[-0.568208816018723,-0.40087353508220724]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_32","position":[0.17571177891909395,0.9997258354129124,0.71338606911949],"aabb_xy":[[0.15353925194244308,0.977550168256789],[0.19788430589574474,1.0219015025690352]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_33","position":[0.43044075453814146,0.4764248081632836,0.71338606911949],"aabb_xy":[[0.39394493391086266,0.43994086573652597],[0.46693657516542014,0.5129087505900412]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6749667782184865,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2485.png","name":"2485"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2485.png","name":"2485"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4625.png","name":"4625"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8785.png","name":"8785"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5200.png","name":"5200"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2220.png","name":"2220"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":669.3098939488497,"rotation_z_degrees":183.60363874019237,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012669162088503955,-0.01724096423177395,-0.00499999909215401]},{"name":"camera_2","offset_m":[-0.009156718704301361,0.01657092778338212,-0.010513364882316299]},{"name":"camera_3","offset_m":[0.0036723331816174744,0.01837683113571958,-0.013832241683458256]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001609583038775385,0.0010108958581210967,-0.0009225911986449553],"end_effector_yaw_offset_degrees":-0.273370646699294},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00025103349009639544,0.0012818683409526743,0.0010688201930855851],"end_effector_yaw_offset_degrees":0.44067197145434256},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007494583666283433,-0.000789628660043232,0.0013553258892346478],"end_effector_yaw_offset_degrees":-0.39642016934889535}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0001896627305869921,0.000415801806279573],"position_m":[0.312389662730587,0.008315801806279574,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004057463890298777,0.0041916439925548206],"position_m":[0.27945746389029874,-0.30420835600744517,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002850654802652052,-0.003770425874798612],"position_m":[0.16324934519734793,0.3007295741252014,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003296170635777516,0.004290573242655932],"position_m":[0.34070382936422244,0.16659057324265594,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"45b1908d0b541dd12f27d3e1a6e4e13e1478ab94f4e0f6bfa9d06b132585fef6","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2485/tex_ceiling_textures_2220/tex_floor_textures_5200/tex_table_textures_4625/tex_wall_textures_8785","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6321053580172038639,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6321053580172038639,"visual_seed":6321053580172038639,"scene_id":"lab_003","finished_at":"2026-09-04T16:43:21"} +{"episode_id":"ep_000066","started_at":"2026-09-04T16:43:24","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[0.08890172412472408,-2.251916471745913,0.71338606911949],"aabb_xy":[[0.03390947348921312,-2.3069164734892262],[0.14389397476023502,-2.1969164700026007]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.16040432262622129,-1.5902256357654165,0.71338606911949],"aabb_xy":[[0.09640431940758343,-1.6369487476644249],[0.22440432584485914,-1.5435025238664082]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[0.5381988488851523,-1.1270460181650093,0.71338606911949],"aabb_xy":[[0.49718090549878147,-1.1770460187959668],[0.5792167922715232,-1.0770460175340522]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.3114456823655696,1.5539690149670027,0.71338606911949],"aabb_xy":[[0.2614456837196484,1.50404947130754],[0.36144568101149077,1.6038885586264648]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[-0.5408736821793598,0.9378238535018744,0.71338606911949],"aabb_xy":[[-0.5633736817030672,0.9153279060512535],[-0.5183736826556524,0.960319800952495]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.13719259662821348,0.7910572684186592,0.71338606911949],"aabb_xy":[[-0.15482543222174103,0.7734343224030361],[-0.1195597610346859,0.8086802144342821]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[-0.47290926677491074,-1.109812117371376,0.71338606911949],"aabb_xy":[[-0.47661252810404964,-1.1135141356800935],[-0.46920600544577185,-1.106110099062658]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[-0.23929092060068796,1.8103878347613667,0.71338606911949],"aabb_xy":[[-0.2475054657163719,1.8017112444637249],[-0.23107637548500393,1.8190644250590076]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[-0.4041508550706105,-0.4990033168338188,0.71338606911949],"aabb_xy":[[-0.40811133884034484,-0.5066711814193394],[-0.40019037130087604,-0.4913354522482983]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.12752695809679004,-1.185935826268704,0.71338606911949],"aabb_xy":[[0.09506525721486254,-1.2160686583836062],[0.15998865897871745,-1.155802994153801]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[0.1294282138118139,0.8230417340073708,0.71338606911949],"aabb_xy":[[0.09192821301981846,0.8166738930491807],[0.16692821460380936,0.8294095749655609]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.5260876487905686,0.9531912559122202,0.71338606911949],"aabb_xy":[[0.5207551341359555,0.9478669276669847],[0.5314201634451816,0.9585155841574557]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.4672199858147954,0.6326326594497167,0.71338606911949],"aabb_xy":[[0.4194138182010267,0.5676326567426578],[0.5150261534285641,0.6976326621567758]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[-0.09582374554172379,-1.622089032644743,0.71338606911949],"aabb_xy":[[-0.10597676109587315,-1.658158574217483],[-0.0856707299875744,-1.5860194910720022]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[0.3382356529148398,-1.7919628773649494,0.71338606911949],"aabb_xy":[[0.288755231700881,-1.8559628752778015],[0.3877160741287986,-1.7279628794520978]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.343770470304126,-1.323352734729908,0.71338606911949],"aabb_xy":[[0.3248860865356158,-1.342238659510261],[0.3626548540726362,-1.3044668099495553]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[0.4904921381595315,1.7092505255542485,0.71338606911949],"aabb_xy":[[0.42649644076443494,1.6452505272535398],[0.5544878355546281,1.7732505238549572]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.476778416776362,-0.006525177285831241,0.71338606911949],"aabb_xy":[[0.41277841443356045,-0.05146602852996373],[0.5407784191191636,0.03841567395830125]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.36210297602682373,-2.010117056814949,0.71338606911949],"aabb_xy":[[0.2821029755566078,-2.0184277644292976],[0.4421029764970397,-2.001806349200601]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[-0.16851125834684533,0.37244234332911974,0.71338606911949],"aabb_xy":[[-0.19351125827936325,0.3655596751081964],[-0.14351125841432746,0.37932501155004306]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[-0.4496695039327978,0.6470698963580248,0.71338606911949],"aabb_xy":[[-0.5396695036559719,0.6239965438228449],[-0.35966950420962357,0.6701432488932045]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.3620307748776381,0.8106505020654287,0.71338606911949],"aabb_xy":[[-0.42203077472420486,0.75383187987239],[-0.3020307750310713,0.8674691242584673]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.6302379403197853,0.7044794348017587,0.71338606911949],"aabb_xy":[[0.5662379417332128,0.6574724714022501],[0.6942379389063578,0.7514863982012675]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[-0.5586479107063715,-1.7196880417108402,0.71338606911949],"aabb_xy":[[-0.5679415289435221,-1.7571880401989741],[-0.549354292469221,-1.6821880432227063]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[0.5081661551561756,-1.4096575862723608,0.71338606911949],"aabb_xy":[[0.45806869117510207,-1.4736575867821724],[0.5582636191372493,-1.3456575857625488]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.669879703029983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8815.png","name":"8815"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8815.png","name":"8815"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6029.png","name":"6029"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1183.png","name":"1183"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4367.png","name":"4367"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5921.png","name":"5921"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":592.9047075112138,"rotation_z_degrees":289.5467912737017,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018226004041756855,-0.003439935352488009,-0.017107108954992966]},{"name":"camera_2","offset_m":[0.010225631793113511,0.01832742765274509,0.0010744550460684218]},{"name":"camera_3","offset_m":[0.011491645789475927,-0.014232858555568838,0.006135594509888643]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011614130154807695,-0.00019411912012893369,-0.0016049845510387318],"end_effector_yaw_offset_degrees":-0.6199829555780614},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006666329564205369,0.0018830485021185694,2.3429143297604843e-05],"end_effector_yaw_offset_degrees":-0.3512565292089458},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009806158042477819,0.0004068604452584089,-0.0017449880382692338],"end_effector_yaw_offset_degrees":-0.41190751871166276}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004603642677321566,-0.0024263598008980557],"position_m":[0.31680364267732153,0.005473640199101945,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004603500176675993,-0.0015405238826313849],"position_m":[0.270796499823324,-0.3099405238826314,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004139347889975419,-0.0023963681642811875],"position_m":[0.16196065211002458,0.3021036318357188,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034787573491250213,0.0006624555098481231],"position_m":[0.34052124265087497,0.16296245550984811,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b209ff48d9ad429b0c47a63f259ea5b534a511676ecd4a5b518517d1d53e25c","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8815/tex_ceiling_textures_5921/tex_floor_textures_4367/tex_table_textures_6029/tex_wall_textures_1183","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":4422388303244258407,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":4422388303244258407,"visual_seed":4422388303244258407,"scene_id":"lab_003","finished_at":"2026-09-04T16:46:07"} +{"episode_id":"ep_000067","started_at":"2026-09-04T16:46:12","dimensions":{"distractor":{"count":24,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[-0.4903650795986284,1.572897487580732,0.71338606911949],"aabb_xy":[[-0.5803650832755465,1.5114650810036272],[-0.40036507592171017,1.634329894157836]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[-0.06867145758646576,-1.7975601141278834,0.71338606911949],"aabb_xy":[[-0.10296836860420638,-1.8318570003378247],[-0.034374546568725135,-1.763263227917942]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.2587037600289037,1.0284026301802434,0.71338606911949],"aabb_xy":[[0.23241493570846303,1.002131196525592],[0.2849925843493443,1.0546740638348944]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.6170753694020846,-0.9954195440095872,0.71338606911949],"aabb_xy":[[-0.6620753708683136,-1.040419400871068],[-0.5720753679358559,-0.9504196871481068]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.606036318813585,-1.2368001436598,0.71338606911949],"aabb_xy":[[-0.6521214100683165,-1.300800140912355],[-0.5599512275588535,-1.1728001464072448]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.45896252407754445,-0.29999176880619505,0.71338606911949],"aabb_xy":[[-0.46499953707820924,-0.30601846987514325],[-0.4529255110768798,-0.29396506773724684]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[0.4634676912639588,-0.7504909549928849,0.71338606911949],"aabb_xy":[[0.44836538980294066,-0.7655924766239465],[0.47856999272497686,-0.7353894333618228]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[-0.21687355696976418,0.6156961765208027,0.71338606911949],"aabb_xy":[[-0.22083404073949855,0.6080283119352822],[-0.2129130732000298,0.6233640411063234]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[0.5704223834154385,-1.0345673240713678,0.71338606911949],"aabb_xy":[[0.5392754645718554,-1.1045673227581747],[0.6015693022590216,-0.9645673253845604]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.5151915139512759,1.5989588552211074,0.71338606911949],"aabb_xy":[[0.5032587795894479,1.586576702413248],[0.527124248313104,1.6113410080289667]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.5452445124458465,0.8307419402272922,0.71338606911949],"aabb_xy":[[-0.5631136202003019,0.8169090322500813],[-0.5273754046913909,0.8445748482045031]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[-0.09650724432739499,-0.2555081905031056,0.71338606911949],"aabb_xy":[[-0.16050724460137322,-0.30557429070039355],[-0.03250724405341675,-0.20544209030581762]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.2176786055912237,-0.8402600216061786,0.71338606911949],"aabb_xy":[[-0.22743459510039757,-0.8500225556654131],[-0.2079226160820498,-0.8304974875469442]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[0.37694558031579106,0.8048208801643848,0.71338606911949],"aabb_xy":[[0.32695074738784946,0.7548208812691412],[0.42694041324373266,0.8548208790596282]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[0.31084424457832993,-2.120042859089379,0.71338606911949],"aabb_xy":[[0.28584424464581204,-2.126925527310302],[0.3358442445108478,-2.113160190868456]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.5664403545150507,1.1832034015959914,0.71338606911949],"aabb_xy":[[-0.6304403578047587,1.1398684825920737],[-0.5024403512253425,1.226538320599909]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[0.10066028611279454,-1.0243016227026889,0.71338606911949],"aabb_xy":[[0.05067605040461731,-1.0743016215161845],[0.15064452182097177,-0.9743016238891933]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.04007416113809947,-2.2488952463409095,0.71338606911949],"aabb_xy":[[-0.01492583848364637,-2.3038789391283823],[0.09507416075984532,-2.193911553553437]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.6388037631216459,-0.40447393916838115,0.71338606911949],"aabb_xy":[[0.628030789200278,-0.43947393738742013],[0.6495767370430136,-0.36947394094934216]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.4386454261565584,-2.4310746343953014,0.71338606911949],"aabb_xy":[[-0.5036454272625017,-2.4560400074634297],[-0.37364542505061515,-2.406109261327173]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[-0.11031457443795556,0.8492576611129579,0.71338606911949],"aabb_xy":[[-0.15812074205172422,0.7842576584058988],[-0.0625084068241869,0.9142576638200167]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[-0.38812960688682957,-2.298145181392629,0.71338606911949],"aabb_xy":[[-0.39409614582756536,-2.304106326051993],[-0.3821630679460938,-2.2921840367332647]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.6246656134370048,-1.6147870504218238,0.71338606911949],"aabb_xy":[[-0.6378168594082941,-1.6397870501785108],[-0.6115143674657154,-1.5897870506651377]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_23","position":[-0.13824925006406275,1.143189484949528,0.71338606911949],"aabb_xy":[[-0.15112115356500286,1.063189484535692],[-0.12537734656312258,1.2231894853633642]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.676241841576521,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1170.png","name":"1170"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1170.png","name":"1170"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1852.png","name":"1852"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7251.png","name":"7251"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9928.png","name":"9928"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5894.png","name":"5894"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":568.7129291581583,"rotation_z_degrees":100.26847812240183,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014405900021292519,-0.01688375637173752,0.008663164969220195]},{"name":"camera_2","offset_m":[0.01822793577067795,-0.004651353987687274,-0.005255718543899075]},{"name":"camera_3","offset_m":[-0.004666551102553864,0.004216105626942395,0.00501638371391918]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017508007785795717,0.0011452869557031916,0.0001534153561252036],"end_effector_yaw_offset_degrees":-0.41799182308458804},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017859140166867676,0.0010809341056079603,-0.0005171135911747648],"end_effector_yaw_offset_degrees":0.25364591384885826},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001518671919904179,-0.001401557844038536,-0.0001432141847859318],"end_effector_yaw_offset_degrees":0.10648933195527444}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036066708329744778,0.0045817431142360825],"position_m":[0.3158066708329745,0.012481743114236082,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015262877956920386,-0.0035443073853290586],"position_m":[0.276926287795692,-0.3119443073853291,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00047076466903875607,0.0016287533459614012],"position_m":[0.16657076466903875,0.3061287533459614,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003975505888505512,0.001478816592099621],"position_m":[0.34002449411149444,0.1637788165920996,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0266771d1d01264aba433f9d5fa97c27e32ff314eba49aded715039df229d42","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0067.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1170/tex_ceiling_textures_5894/tex_floor_textures_9928/tex_table_textures_1852/tex_wall_textures_7251","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3037626553535387332,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3037626553535387332,"visual_seed":3037626553535387332,"scene_id":"lab_003","finished_at":"2026-09-04T16:48:55"} +{"episode_id":"ep_000068","started_at":"2026-09-04T16:48:58","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[-0.4761235990961387,-1.8083964772266736,0.71338606911949],"aabb_xy":[[-0.5311235987178846,-1.8633801700141466],[-0.42112359947439293,-1.7534127844392011]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.6181007708633511,-0.2961633960442498,0.71338606911949],"aabb_xy":[[-0.627856760372525,-0.3059259301034842],[-0.6083447813541772,-0.2864008619850153]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.15331099952541039,1.0944890545638581,0.71338606911949],"aabb_xy":[[-0.18831099865536605,1.088743833488194],[-0.11831100039545472,1.1002342756395223]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[0.15177909500143072,-1.9747234700890173,0.71338606911949],"aabb_xy":[[0.09776349871953069,-2.038723472981274],[0.2057946912833307,-1.9107234671967597]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.3450332078048123,-2.0680550303553424,0.71338606911949],"aabb_xy":[[-0.42503320476785145,-2.145130671999116],[-0.2650332108417731,-1.990979388711569]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.43341145121637425,-1.8282541668459298,0.71338606911949],"aabb_xy":[[0.3989489732032865,-1.8349178440288527],[0.467873929229462,-1.8215904896630073]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[0.3868600681157741,1.3233545123083483,0.71338606911949],"aabb_xy":[[0.33686006853943945,1.2733739333562424],[0.4368600676921089,1.3733350912604543]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.2953862021226935,-0.3639684838920294,0.71338606911949],"aabb_xy":[[-0.33188202274997225,-0.40045242631878697],[-0.25889038149541477,-0.32748454146527184]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.36662245191325016,-1.272756524056893,0.71338606911949],"aabb_xy":[[0.31664938638073475,-1.3227565238694263],[0.41659551744576573,-1.2227565242443605]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[0.20161348513496447,-1.4477720546407664,0.71338606911949],"aabb_xy":[[0.19283225798772827,-1.456551801929297],[0.21039471228220072,-1.4389923073522368]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[-0.4423725123670222,-2.479187352868061,0.71338606911949],"aabb_xy":[[-0.4798725138826539,-2.4904141258842056],[-0.4048725108513905,-2.4679605798519155]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[0.07056106130567952,0.8089875589057174,0.71338606911949],"aabb_xy":[[0.0617590059967068,0.8011762327507882],[0.07936311661465222,0.8167988850606464]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.42552607491574523,0.6139603917044814,0.71338606911949],"aabb_xy":[[0.4056350350354051,0.6013045804197846],[0.4454171147960856,0.6266162029891783]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[0.05913610851300943,1.199598434807831,0.71338606911949],"aabb_xy":[[0.0478910529423916,1.1883566370837355],[0.07038116408362727,1.210840232531926]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[-0.21889165971342917,0.6984603224413903,0.71338606911949],"aabb_xy":[[-0.2563916602107874,0.6944916388932719],[-0.18139165921607092,0.7024290059895087]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[-0.317074203526407,-0.17638329633721916,0.71338606911949],"aabb_xy":[[-0.3721994091559977,-0.2363832977785063],[-0.26194899789681614,-0.11638329489593204]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[-0.02228197573610402,0.9110068799455431,0.71338606911949],"aabb_xy":[[-0.040151083490559514,0.8971739719683322],[-0.004412867981648527,0.924839787922754]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.5628475740309802,1.7134444391879922,0.71338606911949],"aabb_xy":[[-0.5707708542697285,1.6909444389499886],[-0.5549242937922318,1.7359444394259953]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.30992120505533993,-0.6950760296138883,0.71338606911949],"aabb_xy":[[0.292374510139221,-0.7325760311781395],[0.32746789997145886,-0.657576028049637]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.052734395946229085,0.055581121740320594,0.71338606911949],"aabb_xy":[[-0.0631459546267128,0.05023538840442211],[-0.042322837265745365,0.06092685507621905]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[-0.18136315960904725,1.1872266816094124,0.71338606911949],"aabb_xy":[[-0.19078063417891,1.177810504471693],[-0.1719456850391845,1.1966428587471312]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_21","position":[0.21508580201601668,1.089334865766821,0.71338606911949],"aabb_xy":[[0.18078889099827605,1.0550379795568796],[0.2493827130337573,1.1236317519767622]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707137904471985,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4423.png","name":"4423"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4423.png","name":"4423"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/332.png","name":"332"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3297.png","name":"3297"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9345.png","name":"9345"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3547.png","name":"3547"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":693.1116696580156,"rotation_z_degrees":233.40653875414472,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01563564798320699,-0.009673105980026384,0.010643999085612789]},{"name":"camera_2","offset_m":[-0.012631256086868032,-0.0066779482564410225,0.01676043076029907]},{"name":"camera_3","offset_m":[0.015472795916280934,0.011683779345587248,-0.016266591751989082]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001674614380298192,0.0011389341349748836,1.5031794803012019e-05],"end_effector_yaw_offset_degrees":-0.481383634500991},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.6019135675691636e-05,-0.00042379164794254724,0.0010234907669492924],"end_effector_yaw_offset_degrees":-0.699706350534756},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017724330233939596,0.0019904774918779117,-0.00039347535623424296],"end_effector_yaw_offset_degrees":0.397400632477346}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001191475903309419,0.0017524393946461367],"position_m":[0.31100852409669055,0.009652439394646137,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004110748613212385,-0.0023986365112566178],"position_m":[0.2712892513867876,-0.3107986365112566,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0025703080733009663,-0.0012201745475236823],"position_m":[0.16867030807330097,0.30327982545247634,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004494531766568859,0.003505796298858061],"position_m":[0.3484945317665688,0.16580579629885805,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"870b89322044a60d8bd71e7e8c88db2d2739518430e9372c3f4a160541ddafed","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4423/tex_ceiling_textures_3547/tex_floor_textures_9345/tex_table_textures_332/tex_wall_textures_3297","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":1074480092648471154,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":1074480092648471154,"visual_seed":1074480092648471154,"scene_id":"lab_003","finished_at":"2026-09-04T16:51:34"} +{"episode_id":"ep_000069","started_at":"2026-09-04T16:51:39","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.10660801566682221,-1.9922384558155213,0.71338606911949],"aabb_xy":[[-0.13445305244742933,-2.023022954553833],[-0.07876297888621507,-1.9614539570772096]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.5083366659116509,-0.6083796798753385,0.71338606911949],"aabb_xy":[[-0.5366663758601912,-0.6128404220690556],[-0.4800069559631107,-0.6039189376816215]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.42688688132470753,0.29685272938075125,0.71338606911949],"aabb_xy":[[-0.4310227376574078,0.25935272993639424],[-0.4227510249920074,0.33435272882510825]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.6151812224620921,1.4264230875040043,0.71338606911949],"aabb_xy":[[0.5927164524906869,1.4039230866251438],[0.6376459924334972,1.4489230883828648]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.3032596619969395,0.13560184992208635,0.71338606911949],"aabb_xy":[[-0.3672596591090452,0.08656948012767571],[-0.2392596648848338,0.18463421971649693]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[-0.42285071890324016,1.3296199604053895,0.71338606911949],"aabb_xy":[[-0.4656174257826603,1.265619956983587],[-0.3800840120238199,1.393619963827192]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.5289304474239238,-1.3697282048416306,0.71338606911949],"aabb_xy":[[-0.563930446616742,-1.380695250839293],[-0.49393044823110543,-1.3587611588439679]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.5063479459493434,-0.5207651743877695,0.71338606911949],"aabb_xy":[[0.4563691374390275,-0.5707651743934882],[0.5563267544596593,-0.47076517438205057]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.016930777528253782,-1.641784648890369,0.71338606911949],"aabb_xy":[[-0.03682181740859403,-1.654440460175066],[0.0029602623520864632,-1.6291288376056723]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.6027567064895873,-0.8433590053732949,0.71338606911949],"aabb_xy":[[0.5652567065458209,-0.8516520954081315],[0.6402567064333538,-0.8350659153384583]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[-0.20011886841474058,0.01477954720183794,0.71338606911949],"aabb_xy":[[-0.21791237534965702,-0.0030201983939597277],[-0.18232536147982414,0.032579292797635606]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[0.5667991003926938,-1.2221673766181638,0.71338606911949],"aabb_xy":[[0.5549270173811927,-1.307167376311814],[0.5786711834041949,-1.1371673769245132]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[0.23431204812242623,0.5248856635750778,0.71338606911949],"aabb_xy":[[0.20391393702328262,0.49447876157340814],[0.26471015922156976,0.5552925655767471]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[-0.2649096021790595,-0.21549965705870333,0.71338606911949],"aabb_xy":[[-0.34490960360918665,-0.2950168120713128],[-0.18490960074893226,-0.13598250204609383]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[0.4954263642378687,-1.5227605577213819,0.71338606911949],"aabb_xy":[[0.4314263621881366,-1.5628550408106898],[0.5594263662876007,-1.482666074632074]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[-0.20104177896410957,-1.5217890061749317,0.71338606911949],"aabb_xy":[[-0.2650417811845166,-1.56616209030022],[-0.13704177674370255,-1.4774159220496434]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[0.2987355315439183,-2.3062956206788336,0.71338606911949],"aabb_xy":[[0.2614042550186757,-2.3409486754736863],[0.3360668080691609,-2.271642565883982]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[0.6267026857386879,1.2868908581026406,0.71338606911949],"aabb_xy":[[0.6187086971609844,1.27889077800755],[0.6346966743163912,1.2948909381977307]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.01695460588590647,0.7228643510486532,0.71338606911949],"aabb_xy":[[-0.05445460655048517,0.707177293048431],[0.02054539477867223,0.7385514090488754]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[-0.34205134464327713,0.01466949956838981,0.71338606911949],"aabb_xy":[[-0.3579358379086023,0.00031655926956575264],[-0.326166851377952,0.029022439867213867]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[-0.44398220008188577,-0.8602442670496124,0.71338606911949],"aabb_xy":[[-0.49398220110102115,-0.8967104827874405],[-0.3939821990627506,-0.8237780513117846]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[-0.15236233172220526,-1.817511074063749,0.71338606911949],"aabb_xy":[[-0.23608455722228772,-1.907511077598445],[-0.0686401062221228,-1.727511070529053]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[0.5049300024173002,0.25833619964385246,0.71338606911949],"aabb_xy":[[0.4962160333673656,0.23583619898466415],[0.5136439714672345,0.2808362003030406]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[-0.6193331051975901,-0.3748348311193088,0.71338606911949],"aabb_xy":[[-0.6369659407911177,-0.3924577771349318],[-0.6017002696040625,-0.35721188510368584]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[0.5440991435306042,1.0196699737027695,0.71338606911949],"aabb_xy":[[0.5215991432870888,1.0074653390429977],[0.5665991437741196,1.0318746083625416]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_25","position":[0.4200816859626113,-0.3142661031769505,0.71338606911949],"aabb_xy":[[0.40851270521567484,-0.3392661032938822],[0.431650666709548,-0.28926610306001876]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_26","position":[0.08872978189015401,1.4259016246994665,0.71338606911949],"aabb_xy":[[0.08528910565009684,1.4220401917251022],[0.09217045813021119,1.4297630576738312]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_27","position":[-0.43711825543435023,-2.0531199302642316,0.71338606911949],"aabb_xy":[[-0.5271182540288202,-2.0693705165776533],[-0.3471182568398803,-2.0368693439508108]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[-0.5043209437643397,-2.5184214482567646,0.71338606911949],"aabb_xy":[[-0.5329702761247558,-2.5470670075338404],[-0.47567161140392333,-2.489775888979689]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725479470738275,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9063.png","name":"9063"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9063.png","name":"9063"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8851.png","name":"8851"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7732.png","name":"7732"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6326.png","name":"6326"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4102.png","name":"4102"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":797.0912968656298,"rotation_z_degrees":55.65264099591339,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019423458161348113,0.003314848584780393,-0.004061426221226929]},{"name":"camera_2","offset_m":[-0.01599357691790602,0.01159291750669893,-0.016283968585632434]},{"name":"camera_3","offset_m":[-0.005069650927785068,0.006244405079385187,0.002753103327911753]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001920275941721628,0.0013049656848516849,-3.3507474618644194e-05],"end_effector_yaw_offset_degrees":-0.26193870164415567},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013402193689453852,-0.0015272887305526855,-0.0009818653386658184],"end_effector_yaw_offset_degrees":-0.25209290069501145},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004179920344475115,-0.0009816004781637178,-0.0006310428970708903],"end_effector_yaw_offset_degrees":0.02353429931146178}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002211522337310261,0.004794215131574566],"position_m":[0.31441152233731023,0.012694215131574565,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009506684294054235,-0.0002959358893290017],"position_m":[0.27444933157059453,-0.30869593588932903,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003450562572869878,-0.004483315429408824],"position_m":[0.16955056257286988,0.30001668457059116,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025318071017719104,-0.004104034695608501],"position_m":[0.34146819289822805,0.1581959653043915,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d38d9825966add5a706919f2689c8be055450143c2d7ccf9fd53ae1d0ff9d074","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0069.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9063/tex_ceiling_textures_4102/tex_floor_textures_6326/tex_table_textures_8851/tex_wall_textures_7732","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":1964323229643975440,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":1964323229643975440,"visual_seed":1964323229643975440,"scene_id":"lab_003","finished_at":"2026-09-04T16:54:18"} +{"episode_id":"ep_000070","started_at":"2026-09-04T16:54:20","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.09916248943302952,0.7806146596898751,0.71338606911949],"aabb_xy":[[0.019162492418781527,0.7604801080164638],[0.1791624864472775,0.8007492113632864]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.5741490346154019,-0.08037152053853225,0.71338606911949],"aabb_xy":[[0.4941490331852747,-0.15988867555114172],[0.6541490360455291,-0.0008543655259227595]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[0.011887516291478772,-1.9216144401183048,0.71338606911949],"aabb_xy":[[-0.06811248229584065,-2.0009300420564653],[0.09188751487879819,-1.8422988381801437]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.17042771447029814,-1.8144014064305825,0.71338606911949],"aabb_xy":[[0.15526484149336106,-1.8295668637257014],[0.18559058744723522,-1.799235949135464]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[0.5448132730386956,-0.9090533008480657,0.71338606911949],"aabb_xy":[[0.5377729631051588,-0.9890533002477374],[0.5518535829722327,-0.8290533014483946]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[-0.6199919578046353,-0.5568471536626567,0.71338606911949],"aabb_xy":[[-0.6358764510699605,-0.5712000939614807],[-0.6041074645393102,-0.5424942133638326]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[0.3357291207111701,0.677147755802062,0.71338606911949],"aabb_xy":[[0.31567070909792977,0.6570826688929045],[0.35578753232441035,0.6972128427112195]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[-0.48414734765989326,-1.0786455301388582,0.71338606911949],"aabb_xy":[[-0.5086609717568991,-1.1029101234408945],[-0.4596337235628874,-1.0543809368368215]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[0.4976485493454801,-0.5011795725757855,0.71338606911949],"aabb_xy":[[0.494207873105423,-0.5050410055501501],[0.5010892255855374,-0.4973181396014211]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.4055169962590059,-0.404513422339261,0.71338606911949],"aabb_xy":[[-0.4605102075961427,-0.4595134226780547],[-0.35052378492186914,-0.3495134220004674]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[0.031020270213214074,-0.6952073959160592,0.71338606911949],"aabb_xy":[[-0.032979730060764156,-0.7452734961133473],[0.0950202704871923,-0.6451412957187713]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.46022721961768986,-1.525124362761039,0.71338606911949],"aabb_xy":[[-0.477727218752057,-1.5350039897986267],[-0.44272722048332264,-1.515244735723451]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.5201676128837107,1.444358168592125,0.71338606911949],"aabb_xy":[[-0.5430833257687606,1.4214538714557017],[-0.4972518999986608,1.4672624657285487]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.4210634684039821,-2.064982389135276,0.71338606911949],"aabb_xy":[[-0.5047856939040646,-2.154982392669972],[-0.33734124290389966,-1.9749823856005801]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[0.41595989956429746,-1.025840354491695,0.71338606911949],"aabb_xy":[[0.3709598980980686,-1.0708402113531759],[0.46095990103052636,-0.9808404976302145]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.26137927501818226,-0.9450376654023189,0.71338606911949],"aabb_xy":[[0.22706299784356432,-0.9950376653754966],[0.2956955521928002,-0.8950376654291412]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.46490829664897115,-0.15437361648439163,0.71338606911949],"aabb_xy":[[-0.49990829654498997,-0.1627478519963316],[-0.4299082967529522,-0.14599938097245171]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.20666601912421223,1.7244321839252064,0.71338606911949],"aabb_xy":[[-0.24791483015412694,1.6694321844129885],[-0.16541720809429747,1.7794321834374234]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.4256500688353,1.2249453476061274,0.71338606911949],"aabb_xy":[[0.3756770033027846,1.1749453477935947],[0.4756231343678155,1.2749453474186605]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.25360173037610306,-0.6846824038131223,0.71338606911949],"aabb_xy":[[-0.29110172879950336,-0.6978466177809528],[-0.21610173195270266,-0.6715181898452915]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.5985725491242946,0.9348130907891417,0.71338606911949],"aabb_xy":[[-0.6360725492298874,0.9279909289361604],[-0.5610725490187015,0.9416352526421227]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.5320957626519476,-1.7669127870225347,0.71338606911949],"aabb_xy":[[0.5196284045422119,-1.7793781116558585],[0.5445631207616832,-1.7544474623892115]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6731549006505521,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4956.png","name":"4956"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4956.png","name":"4956"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7739.png","name":"7739"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/674.png","name":"674"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8395.png","name":"8395"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4695.png","name":"4695"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":657.4707662408365,"rotation_z_degrees":234.30119882400837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015327220884048245,-0.015534757388305334,-0.007920207893348529]},{"name":"camera_2","offset_m":[0.0036393883685639956,0.019854398696016306,-0.006230403576068558]},{"name":"camera_3","offset_m":[-0.0033591835934716104,0.003191278464701193,-0.00610655418839778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00027789822597826816,-0.0011592173187386194,-0.0001964318690338986],"end_effector_yaw_offset_degrees":0.39090169199794556},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007643692541207179,-0.0006419394282160358,-0.0016595658384404226],"end_effector_yaw_offset_degrees":0.4493783634193944},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007343911291921227,0.00033816882254168994,-0.00044812382739701996],"end_effector_yaw_offset_degrees":-0.9491342964809717}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0048566893050825425,-0.0011378138673081152],"position_m":[0.3170566893050825,0.006762186132691885,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014096334268104472,-0.00249900409384348],"position_m":[0.27399036657318954,-0.31089900409384347,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016989362280823372,-0.004552590714357002],"position_m":[0.16440106377191765,0.299947409285643,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028601467619448376,0.0029082508037283064],"position_m":[0.3411398532380551,0.1652082508037283,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"108bbb9d01bfa03ec7503903b36dca9f049da5e9da5dbbfad949911aac76014a","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4956/tex_ceiling_textures_4695/tex_floor_textures_8395/tex_table_textures_7739/tex_wall_textures_674","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":2301426784463863267,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":2301426784463863267,"visual_seed":2301426784463863267,"scene_id":"lab_003","finished_at":"2026-09-04T16:57:03"} +{"episode_id":"ep_000071","started_at":"2026-09-04T16:57:06","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.4992713338589433,0.8374194262567096,0.71338606911949],"aabb_xy":[[-0.5342713321290631,0.8303452985617213],[-0.46427133558882333,0.8444935539516977]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[-0.5938572288671884,0.5010007516829473,0.71338606911949],"aabb_xy":[[-0.597935386774238,0.496919771434684],[-0.5897790709601386,0.5050817319312106]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.07017003509915754,-1.1849561145381526,0.71338606911949],"aabb_xy":[[-0.08767003535849417,-1.1990476567269257],[-0.052670034839820926,-1.1708645723493805]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.5208528483596466,0.414915292668677,0.71338606911949],"aabb_xy":[[0.45585285047799884,0.3637916289621362],[0.5858528462412944,0.46603895637521797]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.41165905096625893,-1.5439579521522324,0.71338606911949],"aabb_xy":[[-0.4756590523742496,-1.5957469036761571],[-0.34765904955826826,-1.4921690006283077]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[-0.05071912970508574,-1.006949368523559,0.71338606911949],"aabb_xy":[[-0.0745553473456908,-1.0969493693320458],[-0.02688291206448068,-0.9169493677150728]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.31389727233125475,-0.6856949664336089,0.71338606911949],"aabb_xy":[[0.29139727232110646,-0.6997911860732121],[0.33639727234140304,-0.6715987467940056]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[0.17008443240613857,1.7279423909664335,0.71338606911949],"aabb_xy":[[0.15019339252579836,1.7152865796817371],[0.18997547228647887,1.7405982022511308]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[0.22105968697795175,-2.387122745576129,0.71338606911949],"aabb_xy":[[0.20355968673290237,-2.404622533415696],[0.23855968722300114,-2.369622957736562]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.01883715337951697,1.3032135666836653,0.71338606911949],"aabb_xy":[[-0.04116284721649921,1.248401094138442],[0.07883715397553315,1.358026039228889]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[0.43226277995562556,1.2252667889123678,0.71338606911949],"aabb_xy":[[0.4197954218458899,1.2128014642790443],[0.4447301380653612,1.2377321135456913]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.3445334047630323,-1.2415543159483677,0.71338606911949],"aabb_xy":[[-0.4085334069834393,-1.285927400073656],[-0.28053340254262527,-1.1971812318230795]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.28573741334654723,-0.5282633032311144,0.71338606911949],"aabb_xy":[[0.26967548588802953,-0.6132633050437061],[0.3017993408050648,-0.4432633014185225]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.6602059065118633,-2.4856873384702403,0.71338606911949],"aabb_xy":[[-0.6748493120658962,-2.500346058127024],[-0.6455625009578302,-2.4710286188134556]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.10196589678557777,0.05330069156857409,0.71338606911949],"aabb_xy":[[-0.14713721463374677,-0.010699305575964326],[-0.056794578937408816,0.11730068871311253]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[0.5367066196009029,-1.355853821401165,0.71338606911949],"aabb_xy":[[0.5287126310231995,-1.3638539014962552],[0.5447006081786063,-1.3478537413060745]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[-0.09658988806400759,-0.7246349095864186,0.71338606911949],"aabb_xy":[[-0.18658989039802665,-0.8021172641715313],[-0.006589885729988532,-0.647152555001306]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.39741251209894657,-0.21174027391700267,0.71338606911949],"aabb_xy":[[-0.44738557763146214,-0.2617402737295357],[-0.34743944656643116,-0.16174027410446984]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.19295291933531733,1.2773561734446517,0.71338606911949],"aabb_xy":[[-0.23045291968354506,1.2655647778635681],[-0.15545291898708954,1.2891475690257352]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.3457730851225515,-0.45499374040124874,0.71338606911949],"aabb_xy":[[-0.4007685629432109,-0.5099937418351557],[-0.2907776073018921,-0.39999373896734175]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[-0.6522358443749647,-0.6938777160799223,0.71338606911949],"aabb_xy":[[-0.662388859929114,-0.7299472576526626],[-0.6420828288208152,-0.6578081745071819]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.4000629612258892,0.6258109611807412,0.71338606911949],"aabb_xy":[[-0.4471923402277248,0.5618109601363391],[-0.35293358222405347,0.689810962225143]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.3866687716152683,-2.4955245352186184,0.71338606911949],"aabb_xy":[[-0.45066877020184076,-2.5425314986181276],[-0.32266877302869584,-2.44851757181911]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_23","position":[0.24685143681761457,1.061671832197037,0.71338606911949],"aabb_xy":[[0.2434107605775574,1.0578103992226728],[0.25029211305767174,1.0655332651714018]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[-0.3432450055207525,-2.3432396799217554,0.71338606911949],"aabb_xy":[[-0.39322795570823177,-2.3932396795643154],[-0.2932620553332731,-2.2932396802791946]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_25","position":[0.44642763039475275,-1.1738268523903634,0.71338606911949],"aabb_xy":[[0.4287947948012252,-1.1914497984059862],[0.4640604659882803,-1.1562039063747402]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[0.645351983296633,-0.7439800363359421,0.71338606911949],"aabb_xy":[[0.6228382914731758,-0.8139800369369495],[0.6678656751200902,-0.6739800357349345]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6743378265828598,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1472.png","name":"1472"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1472.png","name":"1472"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1411.png","name":"1411"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5036.png","name":"5036"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8995.png","name":"8995"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1447.png","name":"1447"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":784.4728413459397,"rotation_z_degrees":8.391114682030247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006995345266149866,-0.017686303582578864,0.007381380205384824]},{"name":"camera_2","offset_m":[0.0006145027158262276,0.0016924850264383763,-0.00899061858448881]},{"name":"camera_3","offset_m":[-0.011493474001022692,0.014500411943246954,0.0018569218443319976]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008631482911606436,0.0009183297904595857,-0.0006955624273064726],"end_effector_yaw_offset_degrees":0.35404116373376704},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013447492608074417,0.0005111479003402078,0.00174297813701832],"end_effector_yaw_offset_degrees":0.7929351531880791},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008834974375691793,0.0009290432500669347,0.0014961378938965603],"end_effector_yaw_offset_degrees":-0.8299492328265101}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004739021719149094,0.003848645499318637],"position_m":[0.3074609782808509,0.011748645499318637,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020071576549569826,0.0015441049543006343],"position_m":[0.27740715765495694,-0.3068558950456994,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004836243882523218,0.004606583643865903],"position_m":[0.1612637561174768,0.3091065836438659,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013570844974299355,0.0008422547514848125],"position_m":[0.3453570844974299,0.1631422547514848,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d58884a76d3c8f0861801d839570762d437c88afc6ee9dca234299d0798507aa","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0071.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1472/tex_ceiling_textures_1447/tex_floor_textures_8995/tex_table_textures_1411/tex_wall_textures_5036","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":8255432817524045986,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":8255432817524045986,"visual_seed":8255432817524045986,"scene_id":"lab_003","finished_at":"2026-09-04T16:59:48"} +{"episode_id":"ep_000072","started_at":"2026-09-04T16:59:51","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.4292008063955979,-2.005916288646013,0.71338606911949],"aabb_xy":[[0.4148663812694344,-2.0179765042005515],[0.44353523152176133,-1.993856073091474]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.07550729994178407,1.6147541740916158,0.71338606911949],"aabb_xy":[[-0.1555011235203423,1.5347541714987745],[0.00448652363677414,1.6947541766844576]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.2663484524745444,-2.560392655984696,0.71338606911949],"aabb_xy":[[-0.28884845298658496,-2.5828845143500945],[-0.24384845196250376,-2.5379007976192978]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.07484144062319753,1.2774990916095974,0.71338606911949],"aabb_xy":[[0.029562825742048257,1.2134990922614137],[0.12012005550434678,1.341499090957781]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.23724916674100438,-0.9919148975439649,0.71338606911949],"aabb_xy":[[0.2258874320877182,-1.0032833639502532],[0.2486109013942905,-0.9805464311376769]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.46093762952735506,0.04073919629973366,0.71338606911949],"aabb_xy":[[0.4387651025507042,0.018563529143610476],[0.4831101565040059,0.06291486345585683]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.35951447251686464,-1.3212553215475304,0.71338606911949],"aabb_xy":[[0.3546151802103011,-1.348932240850099],[0.3644137648234281,-1.2935784022449615]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.5687760881613111,1.7791090041895745,0.71338606911949],"aabb_xy":[[0.49877608635256565,1.7577552354253874],[0.6387760899700565,1.8004627729537621]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[0.3192460530773067,-1.1913354971524626,0.71338606911949],"aabb_xy":[[0.2817460527851319,-1.195376972553066],[0.3567460533694815,-1.187294021751859]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[-0.34361798062552507,0.7999184076363597,0.71338606911949],"aabb_xy":[[-0.4236179827882875,0.719963224010216],[-0.2636179784627625,0.8798735912625032]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.32118623195826246,-0.11074645778270442,0.71338606911949],"aabb_xy":[[-0.35868623177529596,-0.11538466909384627],[-0.28368623214122884,-0.10610824647156254]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[-0.6789932203419321,-1.6959498920053653,0.71338606911949],"aabb_xy":[[-0.6898989964294947,-1.7759498884041944],[-0.6680874442543693,-1.6159498956065361]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[-0.25132707611379584,1.2503052820132834,0.71338606911949],"aabb_xy":[[-0.2594407307871729,1.242199465559254],[-0.2432134214404187,1.2584110984673123]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.11576125653543257,1.0628752013818015,0.71338606911949],"aabb_xy":[[-0.17576125739624537,1.0114487713753149],[-0.055761255674619765,1.1143016313882876]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.3864495286247198,-1.964299335603548,0.71338606911949],"aabb_xy":[[-0.39514749091543516,-1.976424309911023],[-0.3777515663340046,-1.9521743612960736]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.032605862187903956,-1.305534928622957,0.71338606911949],"aabb_xy":[[-0.08259009789608118,-1.3555349274364525],[0.01737837352027327,-1.2555349298094614]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.39479599198368776,-2.338015714553167,0.71338606911949],"aabb_xy":[[-0.4197959911493208,-2.3449679602585234],[-0.3697959928180546,-2.3310634688478102]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[0.5953167266610757,-2.248189539919149,0.71338606911949],"aabb_xy":[[0.5313167262835421,-2.2979348067699608],[0.6593167270386093,-2.1984442730683362]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.46099479872393095,-0.40559305512861776,0.71338606911949],"aabb_xy":[[-0.5309948003262104,-0.41902584833027534],[-0.3909947971216515,-0.3921602619269602]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.49863356312308627,-1.2889903771845166,0.71338606911949],"aabb_xy":[[0.48076445536863077,-1.3028232851617274],[0.5165026708775418,-1.2751574692073053]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6768358082430992,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4824.png","name":"4824"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4824.png","name":"4824"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9083.png","name":"9083"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2400.png","name":"2400"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6699.png","name":"6699"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5357.png","name":"5357"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":552.8485295230425,"rotation_z_degrees":186.12021941309445,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013186278610455973,0.019584008838487228,0.0033376393681085227]},{"name":"camera_2","offset_m":[-0.01048370323779726,-0.004111207849667654,-0.0009176312861436699]},{"name":"camera_3","offset_m":[-0.002298786426853213,-0.009085325402263216,0.008786839790846709]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001581840152757576,-0.0009065851812429312,-0.0013836721821988912],"end_effector_yaw_offset_degrees":0.7548935373364192},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00033535887519558377,0.0008838299037528851,2.7112892005517336e-05],"end_effector_yaw_offset_degrees":-0.26106162898980134},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010096702338161477,0.0009505620256278643,0.0009098513179569435],"end_effector_yaw_offset_degrees":0.4349732840092637}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005677356311001216,0.00422992261369567],"position_m":[0.31163226436889985,0.012129922613695672,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037274290092083042,-0.0005770323840250235],"position_m":[0.2791274290092083,-0.308977032384025,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002929395115681262,0.002250736882227833],"position_m":[0.16902939511568127,0.3067507368822278,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00045108230468341327,-0.003831828529898882],"position_m":[0.3444510823046834,0.15846817147010112,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"640f8dd98ebecbcea10ac1c32f9e65997e06c438636e3e1a70c0856810c03f88","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4824/tex_ceiling_textures_5357/tex_floor_textures_6699/tex_table_textures_9083/tex_wall_textures_2400","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":4590825836735742630,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":4590825836735742630,"visual_seed":4590825836735742630,"scene_id":"lab_003","finished_at":"2026-09-04T17:02:14"} +{"episode_id":"ep_000073","started_at":"2026-09-04T17:02:19","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[-0.5755164075024418,-2.035561174123866,0.71338606911949],"aabb_xy":[[-0.6331468763897125,-2.095561173050576],[-0.5178859386151707,-1.975561175197155]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[0.1941339878861701,-2.4256184222150763,0.71338606911949],"aabb_xy":[[0.13013398871640014,-2.4723851093340388],[0.25813398705594004,-2.378851735096114]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[0.5914136908261585,0.6400985836902184,0.71338606911949],"aabb_xy":[[0.5785417873252182,0.5600985832763822],[0.6042855943270985,0.7200985841040545]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_3","position":[-0.08220167203642559,-0.7271520589977631,0.71338606911949],"aabb_xy":[[-0.11568083929746653,-0.7606311723688702],[-0.04872250477538465,-0.6936729456266563]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.158251417081965,0.6759560861540823,0.71338606911949],"aabb_xy":[[-0.17575135051594834,0.6584560862338478],[-0.1407514836479816,0.6934560860743169]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.10019284762841729,1.4133090926071543,0.71338606911949],"aabb_xy":[[-0.13519284589853717,1.4062349649121662],[-0.06519284935829736,1.4203832203021425]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.2326843162256882,0.09655359030041577,0.71338606911949],"aabb_xy":[[-0.2397257671764358,0.08952683856262122],[-0.2256428652749406,0.10358034203821032]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[0.5732768347752748,-2.280964410730424,0.71338606911949],"aabb_xy":[[0.4932768376156995,-2.2925120116882405],[0.6532768319348501,-2.2694168097726064]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.34262621899577317,1.711984856639107,0.71338606911949],"aabb_xy":[[0.32351391163779436,1.6928500777618651],[0.3617385263537521,1.7311196355163492]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.5941573465902911,-1.067999926169737,0.71338606911949],"aabb_xy":[[-0.6311914560183508,-1.1023771335034465],[-0.5571232371622313,-1.0336227188360276]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.431444564793578,0.3064256846796152,0.71338606911949],"aabb_xy":[[-0.4489445650386274,0.2889258968400483],[-0.4139445645485286,0.323925472519182]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[-0.3341065892413875,-1.1085739086332544,0.71338606911949],"aabb_xy":[[-0.42410659157540653,-1.186056263218367],[-0.24410658690736842,-1.0310915540481418]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.5462266724744836,1.3073902185821527,0.71338606911949],"aabb_xy":[[-0.5613988417561171,1.2922213616539493],[-0.5310545031928504,1.322559075510356]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.508668930192995,1.6596641415335722,0.71338606911949],"aabb_xy":[[-0.5726689294871632,1.5956780011647178],[-0.44466893089882675,1.7236502819024262]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[-0.21651796129762751,-0.9427369262821246,0.71338606911949],"aabb_xy":[[-0.23901796130777583,-0.9568331459217277],[-0.19401796128747925,-0.9286407066425212]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[-0.167887478377433,0.8412289159204569,0.71338606911949],"aabb_xy":[[-0.2089054217638039,0.7912289152894996],[-0.12686953499106213,0.8912289165514142]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[-0.47766886317628227,0.18542378310820862,0.71338606911949],"aabb_xy":[[-0.5476688595862439,0.16498584745652684],[-0.4076688667663204,0.2058617187598903]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.5654725235373541,-0.7326194360296021,0.71338606911949],"aabb_xy":[[0.549588030272029,-0.7469723763284261],[0.5813570168026793,-0.7182664957307779]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.45551578695657247,-0.7488727508988189,0.71338606911949],"aabb_xy":[[0.4055427214240572,-0.7988727507113519],[0.5054888524890881,-0.698872751086286]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.13280414803303198,0.19540012641169024,0.71338606911949],"aabb_xy":[[-0.15308845075643068,0.1751175012689814],[-0.11251984530963317,0.2156827515543991]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6726167038175336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3066.png","name":"3066"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3066.png","name":"3066"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4994.png","name":"4994"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8787.png","name":"8787"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8873.png","name":"8873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4625.png","name":"4625"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":734.1900815257972,"rotation_z_degrees":39.44040098284543,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0155152565574861,0.0026741997041107267,-0.00942444357233259]},{"name":"camera_2","offset_m":[0.012011463115728368,0.00613135386207888,-0.018166183282466834]},{"name":"camera_3","offset_m":[0.01386123066496395,0.016392613495022686,0.0015910400147611768]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011990647317593412,-0.0003008409684178966,0.0003496754271208342],"end_effector_yaw_offset_degrees":0.927902694541656},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000248861283928345,0.0018680035279293036,-0.00023734948644859558],"end_effector_yaw_offset_degrees":0.49568617121159564},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004615608755688177,-0.0007768315674299168,0.0004972001557455837],"end_effector_yaw_offset_degrees":0.18730683565833495}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021396784713352012,0.0032667155899006673],"position_m":[0.31006032152866475,0.011166715589900667,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027345353500842487,-0.0038726406269855044],"position_m":[0.27266546464991576,-0.3122726406269855,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032329719304874044,-0.002645340564401596],"position_m":[0.1693329719304874,0.3018546594355984,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003876012083331903,0.003103898829527497],"position_m":[0.34787601208333185,0.1654038988295275,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"03827841967ef4102f71d642ad4e991179725b7611b78348663a9621ca1c28ed","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3066/tex_ceiling_textures_4625/tex_floor_textures_8873/tex_table_textures_4994/tex_wall_textures_8787","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":7966016051449269430,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":7966016051449269430,"visual_seed":7966016051449269430,"scene_id":"lab_003","finished_at":"2026-09-04T17:04:57"} +{"episode_id":"ep_000074","started_at":"2026-09-04T17:05:00","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.4109030409170564,-1.0824423550679516,0.71338606911949],"aabb_xy":[[-0.41486352468679066,-1.0901102196534722],[-0.40694255714732186,-1.074774490482431]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_1","position":[0.4876706544893714,-1.989865870168552,0.71338606911949],"aabb_xy":[[0.46578090690043067,-2.0798658674578006],[0.5095604020783122,-1.8998658728793025]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.2511680539492812,1.033223821470005,0.71338606911949],"aabb_xy":[[0.21366805328470248,1.0175367634697825],[0.28866805461385986,1.0489108794702269]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[0.051847800506932495,-1.0750272775679182,0.71338606911949],"aabb_xy":[[0.0018635647987552753,-1.1250272763814138],[0.10183203621510972,-1.0250272787544226]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[-0.014481834610964639,-1.6780403248554436,0.71338606911949],"aabb_xy":[[-0.02958413607198273,-1.6931418464865051],[0.0006204668500534599,-1.6629388032243813]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.4047060718636102,1.2223294729921559,0.71338606911949],"aabb_xy":[[0.39829225822042524,1.2159196527444873],[0.4111198855067951,1.228739293239824]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.6909530214453468,0.3701137167045023,0.71338606911949],"aabb_xy":[[0.6696750133018744,0.30511371437842927],[0.7122310295888189,0.4351137190305754]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[-0.27289444300121374,-2.4264680848735862,0.71338606911949],"aabb_xy":[[-0.3368944446792111,-2.4749854763529],[-0.20889444132321638,-2.3779506933942716]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.43529096449522364,-0.716847062694772,0.71338606911949],"aabb_xy":[[-0.4763089078815945,-0.7668470633257294],[-0.39427302110885276,-0.6668470620638147]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.4756337827122975,0.3174634220113228,0.71338606911949],"aabb_xy":[[-0.5356337835731102,0.2660369920048364],[-0.41563378185148464,0.36888985201780916]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.26704516967796293,-1.2660498834603862,0.71338606911949],"aabb_xy":[[-0.33104517296767105,-1.3093848024643036],[-0.20304516638825484,-1.2227149644564683]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[-0.4276419243030476,0.07117880946955246,0.71338606911949],"aabb_xy":[[-0.47764192374324316,0.021210884985236142],[-0.3776419248628519,0.12114673395386875]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.147590061092855,-0.7605240817895069,0.71338606911949],"aabb_xy":[[-0.21159006250084567,-0.8123130333134316],[-0.08359005968486434,-0.7087351302655822]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[0.5293666172139126,-1.4943184800418172,0.71338606911949],"aabb_xy":[[0.5111607935526649,-1.5053438806238089],[0.5475724408751602,-1.4832930794598256]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.58735897395819,0.48483661045512516,0.71338606911949],"aabb_xy":[[-0.5922025687194201,0.4799849579761411],[-0.5825153791969602,0.48968826293410933]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.5865598514082775,-2.125080699607909,0.71338606911949],"aabb_xy":[[0.5522435742336596,-2.1750806995810867],[0.6208761285828954,-2.0750806996347313]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.2171941542459364,-1.8774483853311557,0.71338606911949],"aabb_xy":[[-0.2584429652758511,-1.9324483848433727],[-0.17594534321602162,-1.8224483858189378]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.19982474857084392,1.4328883159631745,0.71338606911949],"aabb_xy":[[-0.26382475079125095,1.3885152318378862],[-0.1358247463504369,1.4772614000884627]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.6587926364625734,0.6226849565215806,0.71338606911949],"aabb_xy":[[0.5987926366160066,0.5658663343285419],[0.7187926363091401,0.6795035787146193]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.13895913255900771,-2.306722524287527,0.71338606911949],"aabb_xy":[[0.09378781471083877,-2.3707225214320653],[0.1841304504071767,-2.2427225271429885]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.46252375828437675,-2.44796896616276,0.71338606911949],"aabb_xy":[[-0.49600292554541775,-2.4814480795338674],[-0.42904459102333586,-2.4144898527916534]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[-0.2645945733458365,-1.5694142307738628,0.71338606911949],"aabb_xy":[[-0.26867273125288627,-1.5734952110221259],[-0.2605164154387868,-1.5653332505255992]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.5901223645586748,-1.3705495937743397,0.71338606911949],"aabb_xy":[[-0.6541223664710173,-1.4264607430323502],[-0.5261223626463326,-1.3146384445163293]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700765450335036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2816.png","name":"2816"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2816.png","name":"2816"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2958.png","name":"2958"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5274.png","name":"5274"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6371.png","name":"6371"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/571.png","name":"571"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":532.3259580731125,"rotation_z_degrees":189.68526808441374,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013170722942811271,0.01330615813331584,0.016800466084102062]},{"name":"camera_2","offset_m":[0.003561031406775994,-0.016962801288654877,-0.008620413139183119]},{"name":"camera_3","offset_m":[-0.006606446205556527,0.01355186612467332,0.0033814767128293385]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012125721542988743,0.00017380729094073483,0.0018294814069235495],"end_effector_yaw_offset_degrees":-0.03218412882304311},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001649404978112291,0.0019959163101088166,5.822081666223295e-05],"end_effector_yaw_offset_degrees":0.2804326030563853},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014408003613539475,-0.001128704084531697,0.001542423877490383],"end_effector_yaw_offset_degrees":-0.2112339952964728}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015479778016800217,-0.001976369203897257],"position_m":[0.31374797780168,0.005923630796102744,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002993367371725013,0.0011347281881194408],"position_m":[0.27240663262827497,-0.30726527181188057,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001558523494234759,0.0048827552737861135],"position_m":[0.16454147650576523,0.3093827552737861,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021163607472783064,0.000702299969342535],"position_m":[0.3418836392527217,0.16300229996934254,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8ea1d03cae94e3cac3d06f58c3107fb581704ce9943822cbc78345815874d813","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2816/tex_ceiling_textures_571/tex_floor_textures_6371/tex_table_textures_2958/tex_wall_textures_5274","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6242332303911028463,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6242332303911028463,"visual_seed":6242332303911028463,"scene_id":"lab_003","finished_at":"2026-09-04T17:07:37"} +{"episode_id":"ep_000075","started_at":"2026-09-04T17:07:41","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[-0.17539211523561415,-2.5420203975845106,0.71338606911949],"aabb_xy":[[-0.18624372148448973,-2.552879688312162],[-0.16454050898673853,-2.5311611068568594]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[-0.404193844324071,1.514028355031019,0.71338606911949],"aabb_xy":[[-0.45419384296999216,1.4641088113715564],[-0.35419384567814977,1.5639478986904811]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.5114881471196233,0.3364495433047354,0.71338606911949],"aabb_xy":[[-0.5525060905059942,0.2864495426737781],[-0.47047020373325243,0.38644954393569275]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.3076246720829588,-1.5681488443012541,0.71338606911949],"aabb_xy":[[-0.3301246725949993,-1.5906407026666525],[-0.2851246715709181,-1.5456569859358558]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[0.5519184724000195,-0.9275030720328783,0.71338606911949],"aabb_xy":[[0.48691846976222597,-0.9789826707323251],[0.6169184750378129,-0.8760234733334312]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.384188547113826,0.659532843492928,0.71338606911949],"aabb_xy":[[0.3616885468703106,0.647328208833156],[0.4066885473573414,0.6717374781526999]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[-0.18897230538240783,-1.4048398930327455,0.71338606911949],"aabb_xy":[[-0.26897230403929384,-1.4193447519570086],[-0.10897230672552186,-1.3903350341084828]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.5789612359959226,-2.260283755792374,0.71338606911949],"aabb_xy":[[0.5564612359857742,-2.274379975431977],[0.6014612360060708,-2.2461875361527706]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.5914644463872731,0.06940574342477168,0.71338606911949],"aabb_xy":[[-0.6020319260453721,0.058860713311763124],[-0.5808969667291741,0.07995077353778024]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[-0.10991868763668466,1.2514165722625856,0.71338606911949],"aabb_xy":[[-0.19991868735985885,1.2283432197274056],[-0.01991868791351049,1.2744899247977652]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.4167584523206961,0.6425509781015188,0.71338606911949],"aabb_xy":[[-0.45175845151351424,0.631583932103856],[-0.3817584531278777,0.6535180240991812]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[-0.28484289359492865,0.6839322291652277,0.71338606911949],"aabb_xy":[[-0.3348428949558159,0.6339543245898119],[-0.23484289223404145,0.7339101337406432]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.41401781800853743,1.00916522012486,0.71338606911949],"aabb_xy":[[0.4008665720372482,0.9841652203681734],[0.4271690639798269,1.0341652198815465]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.5438814711915361,-1.9551322583961115,0.71338606911949],"aabb_xy":[[-0.5614597733804829,-1.9727067479702167],[-0.5263031690025892,-1.9375577688220067]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.48060854157525124,-0.28101847258564705,0.71338606911949],"aabb_xy":[[-0.4997208489332302,-0.30015325146288907],[-0.4614962342172725,-0.26188369370840503]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[0.5108818080534951,-1.3479622920227883,0.71338606911949],"aabb_xy":[[0.44929104882950244,-1.4119622901318354],[0.5724725672774881,-1.2839622939137416]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.5661750999793784,0.7585254199148004,0.71338606911949],"aabb_xy":[[0.5318588228047604,0.7085254199416228],[0.6004913771539963,0.8085254198879782]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.11826556809191502,-2.4996786431477824,0.71338606911949],"aabb_xy":[[0.08076556729991957,-2.506046484105972],[0.15576556888391047,-2.493310802189592]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[0.3361556424097989,-2.119420406851146,0.71338606911949],"aabb_xy":[[0.2810304367802081,-2.1794204082924327],[0.3912808480393897,-2.0594204054098584]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[-0.09093024720171361,-1.2190916809838226,0.71338606911949],"aabb_xy":[[-0.10699217466023127,-1.3040916827964142],[-0.07486831974319598,-1.1340916791712305]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[-0.12427851948896274,-2.2025269066692794,0.71338606911949],"aabb_xy":[[-0.13308057479793545,-2.210338232824208],[-0.11547646417999002,-2.19471558051435]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[-0.09382407323348818,1.6750015883423806,0.71338606911949],"aabb_xy":[[-0.15382407374134108,1.6181548546564593],[-0.03382407272563525,1.7318483220283019]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[0.6043943267223861,-0.30972322255757456,0.71338606911949],"aabb_xy":[[0.5193943280303115,-0.34170908595245336],[0.6893943254144608,-0.27773735916269565]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_23","position":[0.39950187717875285,-0.5692485685070232,0.71338606911949],"aabb_xy":[[0.35819733411501686,-0.6332485680751402],[0.44080642024248884,-0.505248568938906]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.5699326413308707,1.4042158615688511,0.71338606911949],"aabb_xy":[[-0.5808384174184335,1.3242158651700218],[-0.559026865243308,1.48421585796768]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_25","position":[-0.6485242970442471,1.3782011401229415,0.71338606911949],"aabb_xy":[[-0.6561485651344254,1.3705679165863975],[-0.640900028954069,1.385834363659485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6750754182912505,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5525.png","name":"5525"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5525.png","name":"5525"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/791.png","name":"791"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/474.png","name":"474"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2742.png","name":"2742"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2593.png","name":"2593"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":796.6556875592344,"rotation_z_degrees":125.28642701908069,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013784859124180971,-0.009410067423394715,0.0008769924881740915]},{"name":"camera_2","offset_m":[-0.007006950202854231,-0.006022442850579637,0.018068130453855875]},{"name":"camera_3","offset_m":[0.013089305923931548,-0.0059745691104368965,-0.01863262144726006]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016481593791256906,0.0002638610391442423,-0.0015083306021220833],"end_effector_yaw_offset_degrees":0.33843798670084047},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017337474996621527,-0.0006681659960311181,0.0006337970591251195],"end_effector_yaw_offset_degrees":-0.1572267719283662},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001985470183177402,0.0004468756513116485,-0.001185239743894],"end_effector_yaw_offset_degrees":-0.10606118922129171}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003718866600110845,-0.003555156844501933],"position_m":[0.3159188666001108,0.004344843155498068,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011703134050758237,-0.001696932959634071],"position_m":[0.2765703134050758,-0.3100969329596341,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037071074243506617,-0.00020254988579335251],"position_m":[0.16239289257564934,0.3042974501142066,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016806896609547362,0.004771427521476073],"position_m":[0.3456806896609547,0.16707142752147608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b5940bf12c46a6e41402ae6c7911b5507627fd6a456173b889d019aa56465679","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5525/tex_ceiling_textures_2593/tex_floor_textures_2742/tex_table_textures_791/tex_wall_textures_474","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":4951107013883059793,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":4951107013883059793,"visual_seed":4951107013883059793,"scene_id":"lab_003","finished_at":"2026-09-04T17:10:26"} +{"episode_id":"ep_000076","started_at":"2026-09-04T17:10:29","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.5098738908948393,0.9475682962370744,0.71338606911949],"aabb_xy":[[-0.5598738895407604,0.8976487525776118],[-0.45987389224891806,0.9974878398965366]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.13618886070020497,-2.295574269560562,0.71338606911949],"aabb_xy":[[-0.15868886051410735,-2.3000488859310426],[-0.11368886088630259,-2.2910996531900816]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[0.6060096481024146,0.7737389783208712,0.71338606911949],"aabb_xy":[[0.5958566325482652,0.7376694367481308],[0.6161626636565639,0.8098085198936114]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[-0.22930890515998026,0.2607349686711662,0.71338606911949],"aabb_xy":[[-0.28930890575599644,0.20592249612594266],[-0.16930890456396405,0.3155474412163896]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.10164759195645101,0.782700544358621,0.71338606911949],"aabb_xy":[[-0.13914759177348457,0.7780623330474792],[-0.06414759213941745,0.7873387556697629]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.4572115841061428,-0.250111206486078,0.71338606911949],"aabb_xy":[[-0.5212115864489443,-0.2950520577302105],[-0.3932115817633412,-0.20517035524194552]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[-0.4544901661428111,1.2874265106225065,0.71338606911949],"aabb_xy":[[-0.49579470920654706,1.2234265110543894],[-0.4131856230790751,1.3514265101906235]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.2474890724806017,-2.3473530500071202,0.71338606911949],"aabb_xy":[[0.22998907320251488,-2.364691150073466],[0.26498907175868863,-2.3300149499407743]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[0.5057549981844705,-1.1133892663810787,0.71338606911949],"aabb_xy":[[0.47946617386402973,-1.1396607000357297],[0.532043822504911,-1.0871178327264273]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[-0.6370180661963062,-1.9731560723585115,0.71338606911949],"aabb_xy":[[-0.6483798008495922,-1.9845245387647996],[-0.6256563315430199,-1.9617876059522235]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.27837077915163033,0.707021588764595,0.71338606911949],"aabb_xy":[[-0.28433731809236606,0.7010604441052308],[-0.2724042402108945,0.7129827334239589]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.022679611745798578,-2.036622518099927,0.71338606911949],"aabb_xy":[[0.010212253636062932,-2.049087842733251],[0.03514696985553423,-2.024157193466604]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[-0.336002288194365,0.9379116742823732,0.71338606911949],"aabb_xy":[[-0.3960022884457662,0.8836303492459084],[-0.27600228794296383,0.9921929993188378]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.1790930535615166,1.1434774024735028,0.71338606911949],"aabb_xy":[[0.15659305331800122,1.1312727678137309],[0.201593053805032,1.1556820371332748]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.3057713965127806,1.761072863670384,0.71338606911949],"aabb_xy":[[0.29784811627403224,1.7385728634323807],[0.3136946767515289,1.7835728639083874]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[0.04095302203338469,-1.487615887296795,0.71338606911949],"aabb_xy":[[-0.03904697824022229,-1.5605654351225116],[0.12095302230699166,-1.4146663394710781]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[0.5878144574446584,0.45797287341809323,0.71338606911949],"aabb_xy":[[0.5726515844677214,0.44280741612297453],[0.6029773304215955,0.47313833071321204]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.5099926514000768,-0.66999116994785,0.71338606911949],"aabb_xy":[[0.4921991444651602,-0.6877909155436477],[0.5277861583349931,-0.6521914243520524]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_18","position":[-0.45164580813932276,1.7918781474694145,0.71338606911949],"aabb_xy":[[-0.4622132877974218,1.781333117356406],[-0.4410783284812238,1.802423177582423]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.26824029983629066,-0.5215895728638746,0.71338606911949],"aabb_xy":[[-0.34824029842361004,-0.6009051748020354],[-0.1882403012489712,-0.4422739709257137]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.2375015954677357,0.5877392265311285,0.71338606911949],"aabb_xy":[[-0.2824941821861861,0.5427392272566798],[-0.19250900874928528,0.6327392258055773]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[-0.600880414463618,0.5989125016513932,0.71338606911949],"aabb_xy":[[-0.6081627308402815,0.5089124980418841],[-0.5935980980869542,0.6889125052609021]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[0.3700146714052688,-0.8625226621077664,0.71338606911949],"aabb_xy":[[0.2900146699751415,-0.9420398171203758],[0.4500146728353959,-0.7830055070951568]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[-0.5168233883024203,0.273421440404749,0.71338606911949],"aabb_xy":[[-0.5818233892595475,0.22147322847104348],[-0.4518233873452931,0.3253696523384546]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[-0.17380118635566577,-2.2225679110668675,0.71338606911949],"aabb_xy":[[-0.18642797364286212,-2.23211398476844],[-0.16117439906846942,-2.213021837365295]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[0.5258596474061883,-0.30981723230435065,0.71338606911949],"aabb_xy":[[0.49139730000804643,-0.34431111470217324],[0.56032199480433,-0.27532334990652785]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_26","position":[-0.071561474181145,1.267197437352614,0.71338606911949],"aabb_xy":[[-0.10906147452937276,1.2554060417715303],[-0.034061473832917244,1.2789888329336974]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[-0.6058462913663489,-1.5644387675632367,0.71338606911949],"aabb_xy":[[-0.6233929862824679,-1.6019387691274878],[-0.58829959645023,-1.5269387659989853]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_28","position":[0.2982925859684348,1.5786127237311969,0.71338606911949],"aabb_xy":[[0.23429258526496544,1.532594341258276],[0.3622925866719041,1.624631106204118]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_29","position":[0.12958277657886097,1.306595466934096,0.71338606911949],"aabb_xy":[[0.12088481428814568,1.294470492626621],[0.13828073886957626,1.3187204412415705]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_30","position":[0.48739561295725253,-1.5505511328943358,0.71338606911949],"aabb_xy":[[0.4792819582838755,-1.5586569493483646],[0.4955092676306297,-1.5424453164403065]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_31","position":[-0.10711707196762299,1.781470154092601,0.71338606911949],"aabb_xy":[[-0.11361870847562762,1.7717023320662915],[-0.10061543545961839,1.791237976118911]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_32","position":[0.0016264733812757504,-2.2747397096688706,0.71338606911949],"aabb_xy":[[-0.05334724865505713,-2.3297397092331043],[0.056600195417608634,-2.219739710104638]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_33","position":[-0.47119447577866236,-1.4080541203510732,0.71338606911949],"aabb_xy":[[-0.5361944767791629,-1.4588404855057482],[-0.40619447477816184,-1.3572677551963983]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_34","position":[0.4004681477977463,0.44430905072740545,0.71338606911949],"aabb_xy":[[0.3504948537944858,0.39430905017285806],[0.4504414418010067,0.49430905128195274]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6787385097651832,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/290.png","name":"290"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/290.png","name":"290"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7791.png","name":"7791"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/364.png","name":"364"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9849.png","name":"9849"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1297.png","name":"1297"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":824.6550229624519,"rotation_z_degrees":25.163082998311964,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014117729667459122,-0.01569278739359939,-0.017891093775913726]},{"name":"camera_2","offset_m":[-0.019216688710236043,0.01852394752006546,0.006673225648699547]},{"name":"camera_3","offset_m":[0.002917222281505479,0.006574671610878779,0.016441833427864618]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001082965227236219,-0.00164095105288922,-0.0012396627128283232],"end_effector_yaw_offset_degrees":0.4270113613363393},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010348616083011445,-0.0016381215250324335,0.0003445060919589349],"end_effector_yaw_offset_degrees":-0.1073559970557385},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019291632765366966,0.0008467116277438495,0.00022643999972529185],"end_effector_yaw_offset_degrees":-0.11110896427303252}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002859722552009731,0.003752030239795842],"position_m":[0.30934027744799025,0.011652030239795844,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0042026960658653615,-0.0038072701893870475],"position_m":[0.27960269606586535,-0.31220727018938704,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004443565210041516,0.000425050138120644],"position_m":[0.17054356521004152,0.30492505013812066,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003959739351588076,-0.002016947915920424],"position_m":[0.347959739351588,0.16028305208407959,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4660337d3bccf889a8cc43af5859c935d9ea92c4472083897ff4eb8ccd2c3212","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_290/tex_ceiling_textures_1297/tex_floor_textures_9849/tex_table_textures_7791/tex_wall_textures_364","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":8739608274036669839,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":8739608274036669839,"visual_seed":8739608274036669839,"scene_id":"lab_003","finished_at":"2026-09-04T17:13:13"} +{"episode_id":"ep_000077","started_at":"2026-09-04T17:13:19","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[0.37616948721571375,-0.5237034764691635,0.71338606911949],"aabb_xy":[[0.3418532100410958,-0.5737034764423412],[0.4104857643903317,-0.47370347649598576]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[-0.3782303890606922,0.8439314922110084,0.71338606911949],"aabb_xy":[[-0.3869283513514075,0.8318065179035338],[-0.3695324267699769,0.8560564665184832]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.02942198047805744,0.840573108683115,0.71338606911949],"aabb_xy":[[-0.040327756565620154,0.7605731122842857],[-0.018516204390494725,0.920573105081944]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.01488505291754516,-1.4110973416071135,0.71338606911949],"aabb_xy":[[-0.0039993308509650456,-1.4299832663874663],[0.033769436686055365,-1.3922114168267608]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[-0.2900380514532945,-1.5443376931898611,0.71338606911949],"aabb_xy":[[-0.293951924648717,-1.5530867085964177],[-0.28612417825787195,-1.535588677783304]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.22086383141376487,-2.5079393591268118,0.71338606911949],"aabb_xy":[[0.14086383425418955,-2.519486960084629],[0.30086382857334015,-2.4963917581689947]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[0.4412867982249311,-1.7465177665110805,0.71338606911949],"aabb_xy":[[0.3612867979513241,-1.819467314336797],[0.5212867984985381,-1.6735682186853635]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.4543447030885357,-2.4025788960269363,0.71338606911949],"aabb_xy":[[0.39434470249251946,-2.4573913685721593],[0.5143447036845519,-2.3477664234817124]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[0.19247229506542385,-1.4736925178577192,0.71338606911949],"aabb_xy":[[0.1875162748805427,-1.496192518059841],[0.1974283152503051,-1.4511925176555978]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[0.5524119292790717,1.121970975965132,0.71338606911949],"aabb_xy":[[0.5024289790915922,1.0719709763225713],[0.6023948794665509,1.1719709756076921]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.2178852725266714,-1.6439320132429494,0.71338606911949],"aabb_xy":[[-0.2677679694043676,-1.6939320124892245],[-0.16800257564897517,-1.593932013996675]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.16326351418268636,0.2586656273713799,0.71338606911949],"aabb_xy":[[-0.19110855096329352,0.2278811286330682],[-0.13541847740207927,0.28945012610969156]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_12","position":[0.2943489497508128,1.3056087690782916,0.71338606911949],"aabb_xy":[[0.22934895159489377,1.2793125245283792],[0.3593489479067319,1.3319050136282036]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[0.619127062151031,1.3329194196771157,0.71338606911949],"aabb_xy":[[0.5575363029270383,1.2689194215680688],[0.6807178213750239,1.3969194177861626]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.03411587613409972,-1.9837788852139628,0.71338606911949],"aabb_xy":[[-0.04488885005546749,-2.0187788834330016],[-0.023342902212731935,-1.9487788869949236]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[-0.5558796957388034,1.4251881571996816,0.71338606911949],"aabb_xy":[[-0.5635039638289817,1.417554933663138],[-0.5482554276486252,1.4328213807362253]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[0.13004870365588117,-0.6414081422789373,0.71338606911949],"aabb_xy":[[0.09545762080183591,-0.7064081425639682],[0.16463978650992633,-0.5764081419939061]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.2624843142862908,1.5690329268143555,0.71338606911949],"aabb_xy":[[0.21248431300245083,1.519054072423733],[0.31248431557013073,1.6190117812049771]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.3097836392387676,-1.9998352550469223,0.71338606911949],"aabb_xy":[[0.3003661646689048,-2.009251432184641],[0.3192011138086303,-1.990419077909203]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[-0.3534640691352728,0.23563151126500426,0.71338606911949],"aabb_xy":[[-0.38345573186914306,0.20563151192820373],[-0.3234724064014024,0.2656315106018048]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.12917864411320434,-2.172607870278512,0.71338606911949],"aabb_xy":[[0.11138513717828791,-2.1904076158743098],[0.14697215104812078,-2.1548081246827144]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[0.11893779670344151,-1.214412797676077,0.71338606911949],"aabb_xy":[[0.10878478114929209,-1.250482339248817],[0.12909081225759084,-1.1783432561033362]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.07914235112684942,-1.5630813003117827,0.71338606911949],"aabb_xy":[[-0.08357298048168961,-1.5685296720464657],[-0.07471172177200926,-1.5576329285771002]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[-0.10642608174055779,-1.8084934411575007,0.71338606911949],"aabb_xy":[[-0.11292771824856243,-1.8182612631838106],[-0.0999244452325532,-1.7987256191311911]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[0.07395526781895112,-1.97814920817924,0.71338606911949],"aabb_xy":[[0.03895526784245529,-1.9876138242268568],[0.10895526779544695,-1.9686845921316236]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[-0.35398819615795174,-1.9127060229264812,0.71338606911949],"aabb_xy":[[-0.4439881998348698,-1.9741384295035853],[-0.2639881924810335,-1.8512736163493766]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[0.6627850159475266,-2.1299111785983,0.71338606911949],"aabb_xy":[[0.6252850175241261,-2.1430753925661303],[0.7002850143709268,-2.116746964630469]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_27","position":[-0.46918180930712916,-0.5147785721162359,0.71338606911949],"aabb_xy":[[-0.47717579788483244,-0.5227786522113262],[-0.46118782072942566,-0.5067784920211456]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[-0.252766250565226,1.384119473074135,0.71338606911949],"aabb_xy":[[-0.3167619479603226,1.3201194747734262],[-0.18877055317012942,1.4481194713748435]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6730718494087372,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6057.png","name":"6057"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6057.png","name":"6057"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5627.png","name":"5627"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3465.png","name":"3465"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4479.png","name":"4479"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3913.png","name":"3913"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":774.498449096737,"rotation_z_degrees":110.72493762865251,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01199263680129615,-0.0050494713283802724,-0.005511792955280677]},{"name":"camera_2","offset_m":[0.016465229839598593,0.007727981494678335,0.004939778266475518]},{"name":"camera_3","offset_m":[0.004139545205666978,-0.00475448671505835,-0.00048376878306392174]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00036392341317992923,-0.0016271645231738362,-0.0003497771346628617],"end_effector_yaw_offset_degrees":-0.12769188336836312},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007464848583168338,0.00018201409769779634,2.523079473884006e-06],"end_effector_yaw_offset_degrees":-0.6318279733511032},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009645544817765746,-0.0016984576951724541,-0.0014443128532027787],"end_effector_yaw_offset_degrees":0.02849266521314542}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035167114582441523,-0.004173720047702102],"position_m":[0.31571671145824415,0.0037262799522978984,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001851347792951293,0.000764559029925599],"position_m":[0.2755851347792951,-0.3076354409700744,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011892599406637247,0.0014932457653935608],"position_m":[0.1672892599406637,0.30599324576539355,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003202685900524662,0.004960061420283019],"position_m":[0.34079731409947533,0.16726006142028302,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ce56537d9bb8dfe0f1a1074482879bba696c0ee92d9be5db0b5c5604e8fb8ecd","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6057/tex_ceiling_textures_3913/tex_floor_textures_4479/tex_table_textures_5627/tex_wall_textures_3465","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6554153204099898456,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6554153204099898456,"visual_seed":6554153204099898456,"scene_id":"lab_003","finished_at":"2026-09-04T17:15:58"} +{"episode_id":"ep_000078","started_at":"2026-09-04T17:16:00","dimensions":{"distractor":{"count":25,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.08510206547825083,-2.118385194034973,0.71338606911949],"aabb_xy":[[0.07247527819105448,-2.127931267736546],[0.09772885276544718,-2.1088391203334]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.627180622520205,1.3674770946900363,0.71338606911949],"aabb_xy":[[0.62076680887702,1.361067274442368],[0.6335944361633898,1.3738869149377047]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[-0.26253315762359974,-0.42200030581256565,0.71338606911949],"aabb_xy":[[-0.2795432549136504,-0.43813479431083957],[-0.2455230603335491,-0.4058658173142917]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[-0.10912714290286119,0.16662805017112836,0.71338606911949],"aabb_xy":[[-0.17412714105878024,0.14033180562121617],[-0.04412714474694214,0.19292429472104056]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.6125249396771227,-0.9039230598872874,0.71338606911949],"aabb_xy":[[-0.6221565758975522,-0.9135603726669963],[-0.602893303456693,-0.8942857471075785]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[-0.3352432670373415,1.4985541490142693,0.71338606911949],"aabb_xy":[[-0.3727432675346997,1.494585465466151],[-0.29774326653998323,1.502522832562388]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[-0.26712470458716764,-0.21520867669404709,0.71338606911949],"aabb_xy":[[-0.27438595215757505,-0.2279956869575566],[-0.2598634570167602,-0.20242166643053763]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[0.07916866561976055,-1.093967079773796,0.71338606911949],"aabb_xy":[[0.050838955671220334,-1.098427821967513],[0.10749837556830079,-1.0895063375800789]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[0.30724315021574866,-1.3165268170501436,0.71338606911949],"aabb_xy":[[0.22724315223496364,-1.3241283580119956],[0.3872431481965337,-1.3089252760882917]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[-0.39776785706005696,-1.676483765917283,0.71338606911949],"aabb_xy":[[-0.41965760464899776,-1.7664837632065324],[-0.37587810947111616,-1.5864837686280342]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[-0.47506842271828603,0.841195420356387,0.71338606911949],"aabb_xy":[[-0.509659505572331,0.7761954200713558],[-0.4404773398642407,0.9061954206414179]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.2918397826745107,1.212845086927587,0.71338606911949],"aabb_xy":[[0.2575235054998928,1.1628450869544094],[0.32615605984912865,1.2628450869007648]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[0.4052030583787485,0.916466962143808,0.71338606911949],"aabb_xy":[[0.3702030601086285,0.9093928344488198],[0.44020305664886833,0.9235410898387961]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.04503998471870441,-1.6625276813283252,0.71338606911949],"aabb_xy":[[-0.13003998341077905,-1.694513544723204],[0.03996001397337024,-1.6305418179334463]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[0.5305023403738711,-1.6185945477659849,0.71338606911949],"aabb_xy":[[0.5200907816933873,-1.6239402811018833],[0.5409138990543547,-1.6132488144300865]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.5292651620399045,0.4913974739186453,0.71338606911949],"aabb_xy":[[-0.5792439705502204,0.4413974739129265],[-0.4792863535295886,0.5413974739243641]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[0.5512116867697128,-1.275282033371791,0.71338606911949],"aabb_xy":[[0.5335360561811143,-1.2929622496511934],[0.568887317358311,-1.257601817092388]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.4382109069785312,1.5532448248689428,0.71338606911949],"aabb_xy":[[-0.4491166830660938,1.4732448284701136],[-0.4273051308909684,1.633244821267772]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.1293459886318874,-1.7918278939470604,0.71338606911949],"aabb_xy":[[0.1117992937157685,-1.8293278955113117],[0.14689268354800636,-1.7543278923828092]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.3027610914557759,-0.5781669831567786,0.71338606911949],"aabb_xy":[[0.27161417261219273,-0.6481669818435857],[0.33390801029935896,-0.5081669844699713]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[0.20902284681796246,-2.1198328373963564,0.71338606911949],"aabb_xy":[[0.17903118408409213,-2.1498328367331565],[0.2390145095518328,-2.0898328380595554]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[0.013071611511592529,0.9119896442810997,0.71338606911949],"aabb_xy":[[-0.006986800101647761,0.8919245573719421],[0.03313002312483282,0.9320547311902572]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_22","position":[-0.1714490939320491,1.1123012257878302,0.71338606911949],"aabb_xy":[[-0.181205083441223,1.1025386917285958],[-0.1616931044228752,1.1220637598470646]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[-0.21530770821739564,1.3234901341600436,0.71338606911949],"aabb_xy":[[-0.22615931446627124,1.3126308434323926],[-0.20445610196852004,1.3343494248876946]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[0.21844748594662444,-2.2144290332625283,0.71338606911949],"aabb_xy":[[0.14844748381519488,-2.2371909988882233],[0.288447488078054,-2.1916670676368324]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686314483354422,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6639.png","name":"6639"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6639.png","name":"6639"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5332.png","name":"5332"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8006.png","name":"8006"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2082.png","name":"2082"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7932.png","name":"7932"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":711.12004061662,"rotation_z_degrees":23.57727062366418,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002474594607878678,-0.0038852209861672607,0.00883774671410115]},{"name":"camera_2","offset_m":[0.006840764794889501,0.017070761272792393,-0.000706152470612828]},{"name":"camera_3","offset_m":[-0.01700056820639655,-0.0033087127468198925,0.009145358419163446]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002387722680650781,-0.0003797569299976624,-0.00169549805580339],"end_effector_yaw_offset_degrees":0.3399437381036581},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00047837563268191994,0.0006572409299832275,0.0006459183337757407],"end_effector_yaw_offset_degrees":0.7980850859742898},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00013200919425739206,2.3452105921919434e-05,-0.001534476980960385],"end_effector_yaw_offset_degrees":0.8057802340160831}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001509991029872044,-0.0004430491644630873],"position_m":[0.31069000897012794,0.0074569508355369135,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004152295103168964,0.0020402902894604688],"position_m":[0.27124770489683103,-0.30635970971053955,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019602202443850746,-0.002688307008951144],"position_m":[0.16413977975561492,0.3018116929910489,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001728867798625472,-0.003665456656681168],"position_m":[0.3422711322013745,0.15863454334331883,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5cae7cb8a4b3d8a2695e6327ee4b9492c88e33ac2ccd41d0f575279ffbb22f51","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6639/tex_ceiling_textures_7932/tex_floor_textures_2082/tex_table_textures_5332/tex_wall_textures_8006","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3824958127484886902,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3824958127484886902,"visual_seed":3824958127484886902,"scene_id":"lab_003","finished_at":"2026-09-04T17:18:40"} +{"episode_id":"ep_000079","started_at":"2026-09-04T17:18:43","dimensions":{"distractor":{"count":21,"items":[{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_0","position":[-0.3684850372473316,-1.2610390300351575,0.71338606911949],"aabb_xy":[[-0.3845469647058492,-1.3460390318477493],[-0.3524231097888139,-1.1760390282225657]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.651626487299477,-0.2637671803860955,0.71338606911949],"aabb_xy":[[0.6381799606654337,-0.2772370320391867],[0.6650730139335204,-0.25029732873300425]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.6059511931801354,0.6019110911080059,0.71338606911949],"aabb_xy":[[-0.612992644130883,0.5948843393702113],[-0.5989097422293878,0.6089378428458004]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.3521852676453908,1.149840738078836,0.71338606911949],"aabb_xy":[[-0.41618526790586163,1.1048319387259078],[-0.28818526738492,1.1948495374317638]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[0.2498230654410325,-1.935019853438534,0.71338606911949],"aabb_xy":[[0.15982306870542226,-1.9882033167558284],[0.3398230621766427,-1.8818363901212394]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[0.48055026173105087,-0.9987425731886233,0.71338606911949],"aabb_xy":[[0.4659068561770178,-1.0134012928454075],[0.4951936672850838,-0.9840838535318389]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.5050315039787379,-0.7005429538152945,0.71338606911949],"aabb_xy":[[0.46378269294882296,-0.7555429533275119],[0.5462803150086524,-0.645542954303077]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[0.12468611299129195,-1.327150721280215,0.71338606911949],"aabb_xy":[[0.0794074981101427,-1.3911507206283986],[0.1699647278724412,-1.2631507219320313]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[0.3384885776927977,1.4960853008936046,0.71338606911949],"aabb_xy":[[0.26848857609051824,1.482652507691947],[0.4084885792950772,1.5095180940952622]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.15910519936652479,0.7285608198530054,0.71338606911949],"aabb_xy":[[-0.19410519934302062,0.7190962038053887],[-0.12410519939002895,0.738025435900622]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[-0.16936550051315946,0.3993439433041126,0.71338606911949],"aabb_xy":[[-0.1781467276603957,0.3905641960155826],[-0.16058427336592324,0.4081236905926429]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[0.09032073216181846,-1.2068458767883354,0.71338606911949],"aabb_xy":[[0.05585825414873068,-1.2135095539712584],[0.12478321017490622,-1.2001821996054125]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.6006628529079898,-0.5349462823898037,0.71338606911949],"aabb_xy":[[0.5578961460285696,-0.5989462858116061],[0.64342955978741,-0.47094627896800123]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[0.024774814911705745,-2.077933952904474,0.71338606911949],"aabb_xy":[[-0.03922518649628492,-2.129722904428398],[0.0887748163196964,-2.0261450013805486]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[0.473162851944144,-0.43986579513801827,0.71338606911949],"aabb_xy":[[0.4599319064094627,-0.45309321416001763],[0.4863937974788253,-0.4266383761160188]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[-0.6240178284652481,-0.025759756836494674,0.71338606911949],"aabb_xy":[[-0.633773817974422,-0.035522290895729114],[-0.6142618389560742,-0.015997222777260234]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.09628875426897976,-0.9451198847361968,0.71338606911949],"aabb_xy":[[0.08452056747432225,-1.0301198846414183],[0.10805694106363731,-0.8601198848309753]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.469961050083312,-2.2947641050897514,0.71338606911949],"aabb_xy":[[-0.5170904290851477,-2.358764106134153],[-0.4228316710814763,-2.230764104045349]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[0.2813321833205207,-2.4962883766616364,0.71338606911949],"aabb_xy":[[0.25886741334911556,-2.518788377540497],[0.3037969532919258,-2.473788375782776]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[0.6231436968974524,0.27583666964565134,0.71338606911949],"aabb_xy":[[0.6056436966524029,0.25833688180608444],[0.6406436971425017,0.29333645748521814]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_20","position":[0.05932682596019745,1.2535100232303962,0.71338606911949],"aabb_xy":[[0.022292716532137727,1.2191328158966868],[0.09636093538825716,1.2878872305641056]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6767857567633457,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7284.png","name":"7284"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7284.png","name":"7284"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2149.png","name":"2149"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9082.png","name":"9082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7637.png","name":"7637"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8073.png","name":"8073"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":774.1500306374169,"rotation_z_degrees":187.75582345109774,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006841417920948379,-0.006760226609020656,-0.009382642830073814]},{"name":"camera_2","offset_m":[-0.017901585642470526,0.0033892847937288147,0.007870366197785118]},{"name":"camera_3","offset_m":[-0.019838260295253568,0.010451408935358415,0.004460604019359403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005347673778844883,0.0015188303774830688,-0.0008280292248140854],"end_effector_yaw_offset_degrees":0.6308639031840131},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001381954900426681,-0.00015490260953548497,-0.00017731387555860686],"end_effector_yaw_offset_degrees":0.9179838977861281},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000657821462887895,0.0018888815944249778,0.0019514642977352045],"end_effector_yaw_offset_degrees":0.6122627166705488}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001740244143227201,-0.004309348534572211],"position_m":[0.3139402441432272,0.0035906514654277895,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031930099248503015,-0.001507084977512735],"position_m":[0.27859300992485025,-0.30990708497751274,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038019248605424888,0.0033342992239955268],"position_m":[0.16990192486054248,0.3078342992239955,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036844311431023435,-0.0012734783580600826],"position_m":[0.3476844311431023,0.16102652164193992,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"01b75ca2254e5e26f939d457f24ca770c05a15535dfa5111ab13f1a8b284b42b","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7284/tex_ceiling_textures_8073/tex_floor_textures_7637/tex_table_textures_2149/tex_wall_textures_9082","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3674184719154755390,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3674184719154755390,"visual_seed":3674184719154755390,"scene_id":"lab_003","finished_at":"2026-09-04T17:21:32"} +{"episode_id":"ep_000080","started_at":"2026-09-04T17:21:35","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[0.20675216795863793,-0.6278963715281216,0.71338606911949],"aabb_xy":[[0.1763540568594943,-0.658303273529791],[0.23715027905778147,-0.597489469526452]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.3686829102005988,-1.4607421619265124,0.71338606911949],"aabb_xy":[[-0.4326829121129412,-1.5166533111845228],[-0.3046829082882565,-1.404831012668502]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[0.5455077831414508,-0.6440694571745385,0.71338606911949],"aabb_xy":[[0.4805077821843235,-0.696017669108244],[0.6105077840985779,-0.5921212452408329]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.620073999605564,0.23290412408105876,0.71338606911949],"aabb_xy":[[-0.6840739969079103,0.188537697113202],[-0.5560740023032175,0.2772705510489155]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[-0.4355534666612913,-0.812139706072504,0.71338606911949],"aabb_xy":[[-0.49055346486303614,-0.8526616726989416],[-0.38055346845954646,-0.7716177394460664]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[-0.2176664153256253,1.5924181623423759,0.71338606911949],"aabb_xy":[[-0.22570275002691012,1.5843800430379589],[-0.20963008062434044,1.6004562816467924]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.5445365759774181,-1.5641344749046988,0.71338606911949],"aabb_xy":[[-0.6045365762288192,-1.6184157999411632],[-0.4845365757260168,-1.509853149868234]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.006725841531472709,-2.1005022653883927,0.71338606911949],"aabb_xy":[[-0.024421077312110406,-2.1705022640752],[0.037872760375055825,-2.0305022667015855]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[0.2391677342525904,1.4410738951634579,0.71338606911949],"aabb_xy":[[0.23370978861557032,1.3610738918557987],[0.24462567988961045,1.521073898471117]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.20464372855966334,0.7257022899677286,0.71338606911949],"aabb_xy":[[-0.2154953348085389,0.7148429992400774],[-0.1937921223107877,0.7365615806953795]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.547221646644487,-0.4216331516207541,0.71338606911949],"aabb_xy":[[0.49224792460815414,-0.47663315118498734],[0.6021953686808199,-0.366633152056521]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[-0.16908763322502085,-1.52570108990374,0.71338606911949],"aabb_xy":[[-0.23308333062011743,-1.5897010882044484],[-0.10509193582992427,-1.461701091603031]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[0.600622519744967,-2.173871307025455,0.71338606911949],"aabb_xy":[[0.5366225204507988,-2.237857447394309],[0.6646225190391353,-2.1098851666566008]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[0.14463338982291307,1.3919539652400448,0.71338606911949],"aabb_xy":[[0.1183445655024724,1.3656825315853933],[0.1709222141433537,1.4182253988946958]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.4056389457384038,-0.22007756641126752,0.71338606911949],"aabb_xy":[[-0.4556120112709194,-0.27007756622380047],[-0.3556658802058884,-0.17007756659873466]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[0.19983613086527607,-2.5066295762708335,0.71338606911949],"aabb_xy":[[0.1198361305916691,-2.5795791240965498],[0.27983613113888306,-2.4336800284451163]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.018850344715643952,-2.284400711849703,0.71338606911949],"aabb_xy":[[0.01092706447689562,-2.3069007120877063],[0.026773624954392283,-2.2619007116116996]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.635059619361311,1.3248364510359973,0.71338606911949],"aabb_xy":[[0.5889745281065795,1.260836453783442],[0.6811447106160424,1.3888364482885522]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[0.5109144735399467,-0.2187286096050327,0.71338606911949],"aabb_xy":[[0.47743530627890574,-0.2522077229761397],[0.5443936408009876,-0.18524949623392573]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[0.0844945912406665,-2.3643056141824,0.71338606911949],"aabb_xy":[[0.0594945913081486,-2.371188282403323],[0.10949459117318439,-2.357422945961477]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.3933159727735078,1.3289895235832736,0.71338606911949],"aabb_xy":[[0.32331597064207823,1.3062275579575777],[0.4633159749049373,1.351751489208969]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6716560176173489,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5774.png","name":"5774"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5774.png","name":"5774"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4750.png","name":"4750"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5247.png","name":"5247"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6237.png","name":"6237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7213.png","name":"7213"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":814.0980939376603,"rotation_z_degrees":182.3567816086192,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.000503479314278809,-0.012991815266430869,-0.013872117498381726]},{"name":"camera_2","offset_m":[-0.012509989108194449,-0.016841385052401216,-0.006805926563152749]},{"name":"camera_3","offset_m":[0.0013001078046592472,0.011574180863189013,-0.00967894598242589]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007549036365140278,0.0003482205618071791,-0.0017418000492209602],"end_effector_yaw_offset_degrees":-0.3838899665670723},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001859774114186981,0.0012321953050577913,0.0017048634667453837],"end_effector_yaw_offset_degrees":-0.7936426702634001},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010571823855948974,-0.0003520081802413002,-0.0011446142745065281],"end_effector_yaw_offset_degrees":0.8841760714168228}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013590390631651713,-0.0001059301022371447],"position_m":[0.3135590390631651,0.007794069897762856,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00316877636778633,-0.002630528115006459],"position_m":[0.27223122363221364,-0.3110305281150065,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027199282527830583,-0.0021669886377264015],"position_m":[0.16881992825278305,0.3023330113622736,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-6.851400907136387e-05,-0.0006440890577665871],"position_m":[0.3439314859909286,0.16165591094223342,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d5ceed4bae4693b86f69081d5cdc5ba07bbec92b54b5ee9739bcc30412c21dfc","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5774/tex_ceiling_textures_7213/tex_floor_textures_6237/tex_table_textures_4750/tex_wall_textures_5247","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5800563212849742304,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5800563212849742304,"visual_seed":5800563212849742304,"scene_id":"lab_003","finished_at":"2026-09-04T17:24:34"} +{"episode_id":"ep_000081","started_at":"2026-09-04T17:24:40","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[0.07049256580652685,-1.9479457559655904,0.71338606911949],"aabb_xy":[[0.0004925631699404937,-1.9680506209614557],[0.1404925684431132,-1.9278408909697247]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.30398963262400397,0.7535956013435325,0.71338606911949],"aabb_xy":[[-0.3289896321757424,0.7434531174783978],[-0.27898963307226543,0.7637380852086673]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[0.3114737190518382,1.476065648938531,0.71338606911949],"aabb_xy":[[0.25147371819102526,1.4246392189320443],[0.3714737199126509,1.527492078945017]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[-0.1977504233991615,-2.0038512190058464,0.71338606911949],"aabb_xy":[[-0.20499418944540682,-2.0838512172094488],[-0.19050665735291616,-1.923851220802244]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.15426438845358004,-2.4519815551699806,0.71338606911949],"aabb_xy":[[0.10478396723962122,-2.5159815530828324],[0.2037448096675388,-2.387981557257129]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.4268309199246187,-0.11221919165061722,0.71338606911949],"aabb_xy":[[-0.490830920198597,-0.1622852918479052],[-0.3628309196506405,-0.06215309145332926]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.5443807608907736,0.33441423644766344,0.71338606911949],"aabb_xy":[[0.5349632863209108,0.32499805930994435],[0.5537982354606363,0.3438304135853824]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.013590398853289831,-0.9762557875738591,0.71338606911949],"aabb_xy":[[-0.0291461682635551,-0.9918062208182664],[0.0019653705569754325,-0.960705354329452]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.37649579710490483,1.267212322909963,0.71338606911949],"aabb_xy":[[-0.38896315521464053,1.2547469982766395],[-0.36402843899516923,1.2796776475432865]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[0.22262346161190283,-0.9565604879730878,0.71338606911949],"aabb_xy":[[0.18512346126367504,-0.9683518835541712],[0.2601234619601306,-0.9447690923920041]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.05382317179768892,-0.3061669530107056,0.71338606911949],"aabb_xy":[[-0.058253801152529094,-0.3116153247453883],[-0.04939254244284874,-0.3007185812760231]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.553442644054819,0.45852264924675046,0.71338606911949],"aabb_xy":[[0.5222957252112359,0.3885226505599433],[0.5845895628984021,0.5285226479335576]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[-0.5997309451749248,-1.392502872712326,0.71338606911949],"aabb_xy":[[-0.6070132615515882,-1.4825028763218346],[-0.5924486287982609,-1.3025028691028167]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.6759197676838029,0.7850287222574579,0.71338606911949],"aabb_xy":[[0.6534233462499388,0.7625287224507104],[0.698416189117667,0.8075287220642052]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[-0.2587222488594203,-0.9898295463445235,0.71338606911949],"aabb_xy":[[-0.34840932516753575,-1.0798295465989738],[-0.16903517255130485,-0.8998295460900727]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.5788541012806045,-1.7831263217425675,0.71338606911949],"aabb_xy":[[0.49885410426635657,-1.8032608734159785],[0.6588540982948525,-1.762991770069156]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[-0.16841634159250785,-1.2270844381194028,0.71338606911949],"aabb_xy":[[-0.17918931551387562,-1.262084436338442],[-0.15764336767114007,-1.192084439900364]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.6279149386482756,-0.8895575009251191,0.71338606911949],"aabb_xy":[[0.5479149381780598,-0.8978682085394675],[0.7079149391184917,-0.8812467933107707]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.2746804662997515,1.7344393101731757,0.71338606911949],"aabb_xy":[[-0.30467212903362184,1.7044393108363751],[-0.24468880356588119,1.7644393095099762]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[-0.5415146336051953,0.4200226071635673,0.71338606911949],"aabb_xy":[[-0.5640146341172358,0.39753074879816896],[-0.5190146330931547,0.4425144655289657]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[0.613860310522987,1.3065382474433003,0.71338606911949],"aabb_xy":[[0.5782311546230271,1.2709055806864473],[0.6494894664229466,1.3421709142001532]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6743646571310169,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4741.png","name":"4741"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4741.png","name":"4741"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/363.png","name":"363"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5638.png","name":"5638"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6603.png","name":"6603"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6647.png","name":"6647"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":642.8354882410973,"rotation_z_degrees":141.62687334264896,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0022205070426014467,0.01220880896278206,-0.014407233825686401]},{"name":"camera_2","offset_m":[-0.01899708078683233,0.01818318375796712,-0.003847244774184619]},{"name":"camera_3","offset_m":[0.004679970714085737,0.003173414923067549,0.019184811392918822]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003283177505916965,0.0012759212825495694,0.0014616822447954354],"end_effector_yaw_offset_degrees":0.7239938674052551},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00014199885002351247,0.0009237839749566936,-0.0017349250749535403],"end_effector_yaw_offset_degrees":0.5438305160493537},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012333121465704733,0.0018946170211431388,-0.000549961220420769],"end_effector_yaw_offset_degrees":-0.24522224560817962}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001743539559754541,-0.001300560828746221],"position_m":[0.3139435395597545,0.00659943917125378,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008926278489384499,-0.004123130713912294],"position_m":[0.2745073721510615,-0.3125231307139123,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0048907447867154894,-0.002098874668150783],"position_m":[0.1709907447867155,0.3024011253318492,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007124226242082735,0.0027648890466008035],"position_m":[0.3432875773757917,0.1650648890466008,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"438aa015eeff335306df16160def10c42a681f28144aa3433d6c0c37ba5a92f0","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4741/tex_ceiling_textures_6647/tex_floor_textures_6603/tex_table_textures_363/tex_wall_textures_5638","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":2065746720169799702,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":2065746720169799702,"visual_seed":2065746720169799702,"scene_id":"lab_003","finished_at":"2026-09-04T17:27:17"} +{"episode_id":"ep_000082","started_at":"2026-09-04T17:27:20","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.6043261165519915,-1.9392471065250465,0.71338606911949],"aabb_xy":[[0.5393261186703439,-1.9903707702315878],[0.6693261144336394,-1.888123442818506]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[-0.03765686272496516,-2.3784014824569795,0.71338606911949],"aabb_xy":[[-0.07890567375487988,-2.4334014819691965],[0.0035919483049495766,-2.3234014829447616]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.6517011579389393,-0.37787781421545086,0.71338606911949],"aabb_xy":[[0.6342011586608525,-0.3952159142817968],[0.6692011572170262,-0.3605397141491049]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.05000989812793044,-0.7372324130754475,0.71338606911949],"aabb_xy":[[0.02750989831402806,-0.7417070294459283],[0.07250989794183282,-0.7327577967049668]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[-0.5168790851987903,-0.6652013118364091,0.71338606911949],"aabb_xy":[[-0.6018790838908649,-0.6971871752312879],[-0.4318790865067156,-0.6332154484415302]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[-0.6567878981595783,1.182053875563854,0.71338606911949],"aabb_xy":[[-0.6616314929208084,1.17720222308487],[-0.6519443033983484,1.1869055280428382]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.33713239586021876,-0.45815003459385917,0.71338606911949],"aabb_xy":[[-0.3420316881667822,-0.48582695389642794],[-0.3322331035536552,-0.4304731152912904]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.634624390966862,-1.0066827930888917,0.71338606911949],"aabb_xy":[[-0.6632737233272782,-1.0353283523659673],[-0.6059750586064457,-0.9780372338118157]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[-0.14033104537544983,0.11406064095936364,0.71338606911949],"aabb_xy":[[-0.1483250339531532,0.10606056086427328],[-0.1323370567977464,0.12206072105445397]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[-0.28784629364082065,1.6127997215136527,0.71338606911949],"aabb_xy":[[-0.3103454293670476,1.5902997207353897],[-0.2653471579145937,1.6352997222919157]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.21650088713933147,-2.0557004470571303,0.71338606911949],"aabb_xy":[[0.12650088854486155,-2.071951033370551],[0.3065008857338014,-2.0394498607437095]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[-0.11834029196441409,0.7768589372229369,0.71338606911949],"aabb_xy":[[-0.14085398378787128,0.7068589366219293],[-0.0958266001409569,0.8468589378239444]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[0.04114969402537849,-0.9781824304873517,0.71338606911949],"aabb_xy":[[-0.03885030813738399,-1.058137614113495],[0.12114969618814098,-0.8982272468612078]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.5945870644280605,-2.1492082536945363,0.71338606911949],"aabb_xy":[[-0.6026233991293453,-2.157246372998953],[-0.5865507297267756,-2.141170134390119]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.5809425941503209,0.653074621398174,0.71338606911949],"aabb_xy":[[-0.6184425943221927,0.6203738860152668],[-0.5434425939784489,0.6857753567810811]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.628729201578613,0.6407590719803604,0.71338606911949],"aabb_xy":[[0.5931000456786532,0.6051264052235075],[0.6643583574785726,0.6763917387372134]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[-0.307251934218738,-2.5450032860575176,0.71338606911949],"aabb_xy":[[-0.3231364274840631,-2.5593562263563423],[-0.2913674409534128,-2.5306503457586937]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.22942835298581504,0.875658200503989,0.71338606911949],"aabb_xy":[[-0.2628685281818346,0.8422145746730587],[-0.1959881777897954,0.9091018263349189]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[-0.09414646815441385,-1.7304627627744518,0.71338606911949],"aabb_xy":[[-0.17414646531398914,-1.7420103637322686],[-0.014146470994838553,-1.7189151618166345]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[-0.4462766505562705,-1.3651733687611658,0.71338606911949],"aabb_xy":[[-0.4503548084633203,-1.3692543490094289],[-0.44219849264922084,-1.3610923885129023]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[0.607868806384146,-1.2801066908946814,0.71338606911949],"aabb_xy":[[0.5428688082282269,-1.3064029354445934],[0.672868804540065,-1.253810446344769]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[0.3512676498297498,1.2037218098545708,0.71338606911949],"aabb_xy":[[0.3431539951563727,1.195615993400542],[0.3593813045031269,1.2118276263086]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[0.42945473441876425,0.32641041565558515,0.71338606911949],"aabb_xy":[[0.40756498682982345,0.23641041836633606],[0.45134448200770505,0.4164104129448343]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6772473603012741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4430.png","name":"4430"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4430.png","name":"4430"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/49.png","name":"49"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8819.png","name":"8819"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8350.png","name":"8350"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2700.png","name":"2700"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":724.2965947452517,"rotation_z_degrees":63.296106867527506,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01710039531241501,-0.005450208889559539,-0.01818714184373591]},{"name":"camera_2","offset_m":[-0.011139023513129334,-0.00705860996197385,0.012301157264591678]},{"name":"camera_3","offset_m":[0.010214729769914867,-0.014326455966463866,0.0025043178358694004]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002968347296630424,0.0015498547869510389,0.0010054895458535044],"end_effector_yaw_offset_degrees":-0.838638069264035},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014347146668293618,0.00015951271755973613,-0.001941888448369657],"end_effector_yaw_offset_degrees":0.2748752408417532},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00011929348894178064,0.0002767661860328752,-0.0014132506333545108],"end_effector_yaw_offset_degrees":-0.2293852529088547}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008448729225387034,0.003561876599297361],"position_m":[0.31135512707746127,0.011461876599297361,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004794585977286078,0.0006051082979700558],"position_m":[0.2801945859772861,-0.30779489170202995,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032422819841503364,0.003384146960652084],"position_m":[0.16934228198415033,0.3078841469606521,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00204292043106001,0.0023869951660663554],"position_m":[0.34604292043106,0.16468699516606636,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"78aab48d19230c64d3f9ea9fd546189d2dec390d2b91c6dfc759cab065addefa","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4430/tex_ceiling_textures_2700/tex_floor_textures_8350/tex_table_textures_49/tex_wall_textures_8819","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":7397676579273540727,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":7397676579273540727,"visual_seed":7397676579273540727,"scene_id":"lab_003","finished_at":"2026-09-04T17:30:03"} +{"episode_id":"ep_000083","started_at":"2026-09-04T17:30:07","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.3352020375401234,-1.7934456019658718,0.71338606911949],"aabb_xy":[[-0.3851753315433838,-1.8434456025204187],[-0.2852287435368629,-1.743445601411324]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.08815491952409371,-1.7644896926838491,0.71338606911949],"aabb_xy":[[-0.15815492165552325,-1.7872516583095446],[-0.018154917392664158,-1.7417277270581533]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[-0.004820980665963037,-1.4072131794421148,0.71338606911949],"aabb_xy":[[-0.06982097922303587,-1.4369657128559976],[0.0601790178911098,-1.3774606460282324]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.43933022374466507,-0.9487515115585603,0.71338606911949],"aabb_xy":[[-0.5033302240051358,-0.9937603109114883],[-0.3753302234841943,-0.9037427122056323]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.5718571063672904,-2.215870028895465,0.71338606911949],"aabb_xy":[[0.507857107780718,-2.262876992294973],[0.6358571049538629,-2.1688630654959558]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[0.03634681288540953,-1.2424020149342274,0.71338606911949],"aabb_xy":[[0.025573838964041744,-1.2774020131532664],[0.0471197868067773,-1.2074020167151884]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[0.630176055949448,0.26571254004718714,0.71338606911949],"aabb_xy":[[0.595176056053429,0.25733830453524714],[0.6651760558454668,0.274086775559127]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.6397305007289686,-0.7199775450849355,0.71338606911949],"aabb_xy":[[0.5757305000254994,-0.7659959275578567],[0.7037305014324381,-0.6739591626120146]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.28421547758291954,1.0905721877894492,0.71338606911949],"aabb_xy":[[0.2623067954435685,1.0686715209693585],[0.3061241597222706,1.11247285460954]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.32242173331473817,-1.9398916823088328,0.71338606911949],"aabb_xy":[[-0.32845874631540295,-1.9459183833777811],[-0.3163847203140735,-1.933864981239885]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[0.3541688403225942,-1.144272305209901,0.71338606911949],"aabb_xy":[[0.31666883965801546,-1.1599593632101233],[0.39166884098717286,-1.128585247209679]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.3688955240314849,1.727805419518981,0.71338606911949],"aabb_xy":[[-0.38590562132153555,1.711670931020707],[-0.35188542674143425,1.7439399080172548]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.2886642179349441,0.3566356828538897,0.71338606911949],"aabb_xy":[[-0.31495304225538473,0.33036424919923846],[-0.2623753936145034,0.3829071165085409]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.0687273104362216,-2.47189607346873,0.71338606911949],"aabb_xy":[[0.004727308093420048,-2.516836924712862],[0.13272731277902317,-2.426955222224597]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.5267973250103768,1.2134750923286535,0.71338606911949],"aabb_xy":[[-0.5719686428585458,1.149475095184115],[-0.4816260071622078,1.2774750894731919]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[0.6079940305870342,0.56684490901391,0.71338606911949],"aabb_xy":[[0.6014923940790295,0.5570770869876003],[0.6144956670950388,0.5766127310402198]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.32495052482336084,-1.010888046341458,0.71338606911949],"aabb_xy":[[0.31438304516526183,-1.0214330764544663],[0.33551800448145985,-1.0003430162284492]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[-0.6044494213014394,-1.8190560517235461,0.71338606911949],"aabb_xy":[[-0.6844432448799976,-1.8990560543163877],[-0.5244555977228812,-1.7390560491307046]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.4899565418071723,-1.7632408558266834,0.71338606911949],"aabb_xy":[[0.4802005522979984,-1.7730033898859177],[0.4997125313163462,-1.7534783217674488]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.3326969734536495,0.057680673019409934,0.71338606911949],"aabb_xy":[[-0.3386635123943853,0.0517195283600459],[-0.3267304345129137,0.06364181767877397]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[-0.33494525879738735,0.27030028911884596,0.71338606911949],"aabb_xy":[[-0.3495886643514203,0.2556415694620617],[-0.3203018532433543,0.28495900877563024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6737032016995461,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/348.png","name":"348"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/348.png","name":"348"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4940.png","name":"4940"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4897.png","name":"4897"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2542.png","name":"2542"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9017.png","name":"9017"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":697.4737450866755,"rotation_z_degrees":0.16508590897661435,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01993201667914528,-0.011391921179907132,-0.003694144447597695]},{"name":"camera_2","offset_m":[-0.002742004927896894,-0.011617109732754396,-0.016582666651545223]},{"name":"camera_3","offset_m":[-0.00023707512584870624,-0.002730278965109377,0.003204167833924937]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011579940177492139,-1.0290088184961108e-05,-0.00039309038597140676],"end_effector_yaw_offset_degrees":0.7212538265127988},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011556710659663435,0.00024945504776986184,-9.532725321483894e-06],"end_effector_yaw_offset_degrees":-0.734484959620427},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014174660740019752,-0.0012438327328114763,-0.0018672803482920575],"end_effector_yaw_offset_degrees":0.1280541210578634}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027921377210224077,0.003995287611978849],"position_m":[0.3094078622789776,0.01189528761197885,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024392965723974537,0.003792196387505856],"position_m":[0.2778392965723974,-0.3046078036124942,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015119977425092045,0.0030903741413365196],"position_m":[0.1645880022574908,0.3075903741413365,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013582703562885993,0.0013455943090281645],"position_m":[0.3453582703562886,0.16364559430902817,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"47135714ebfdfeeaee41b2a3b648309b9370796c6dafa8fa0029a62c216e638b","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0083.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_348/tex_ceiling_textures_9017/tex_floor_textures_2542/tex_table_textures_4940/tex_wall_textures_4897","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5941223054735659534,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5941223054735659534,"visual_seed":5941223054735659534,"scene_id":"lab_003","finished_at":"2026-09-04T17:32:40"} +{"episode_id":"ep_000084","started_at":"2026-09-04T17:32:44","dimensions":{"distractor":{"count":25,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[0.07659797481505692,1.4103013024624103,0.71338606911949],"aabb_xy":[[0.0693542087688116,1.3303013042588077],[0.08384174086130225,1.4903013006660124]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.6077737855159386,-0.03721686045139805,0.71338606911949],"aabb_xy":[[-0.6577686184438802,-0.08721685934664158],[-0.557778952587997,0.012783138443845488]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.4155045869700478,-1.3941884117899237,0.71338606911949],"aabb_xy":[[0.378004585454416,-1.4054151848060685],[0.4530045884856794,-1.3829616387737784]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[-0.565273790286313,1.289019813703577,0.71338606911949],"aabb_xy":[[-0.6065226013162276,1.2340198141913594],[-0.5240249792563981,1.3440198132157943]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.07234188561458943,-2.086977549376754,0.71338606911949],"aabb_xy":[[-0.08197352183501905,-2.096614862156463],[-0.06271024939415981,-2.077340236597045]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.25296701338337546,1.0154021404638418,0.71338606911949],"aabb_xy":[[0.1629670110493564,0.9379197858787292],[0.3429670157173945,1.0928844950489545]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[0.09358333268720043,-0.7623378862559482,0.71338606911949],"aabb_xy":[[0.028583332652897697,-0.8090385629362755],[0.15858333272150316,-0.7156372095756209]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[0.3114480195221543,-0.7170612901875661,0.71338606911949],"aabb_xy":[[0.2514480178792324,-0.7690614394795102],[0.3714480211650761,-0.6650611408956218]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[0.45925679071294434,-0.5566219351000861,0.71338606911949],"aabb_xy":[[0.4217567921373235,-0.5693582307636439],[0.4967567892885651,-0.543885639436528]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[-0.11585151894731138,0.17747881931620801,0.71338606911949],"aabb_xy":[[-0.1436965557279185,0.14669432057789633],[-0.08800648216670427,0.2082633180545197]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.1332736361651683,-0.7142174450144319,0.71338606911949],"aabb_xy":[[-0.17077363458856862,-0.7273816589822624],[-0.09577363774176792,-0.7010532310466011]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[0.40864868112223096,1.5569773564712057,0.71338606911949],"aabb_xy":[[0.3636486796560021,1.511977499609725],[0.45364868258845986,1.6019772133326864]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.12909971117212482,-0.009663329228899897,0.71338606911949],"aabb_xy":[[-0.13519433906024314,-0.018232723780568616],[-0.1230050832840065,-0.0010939346772311787]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[0.17898420541796756,1.7211847204209971,0.71338606911949],"aabb_xy":[[0.1414842052460956,1.68848398503809],[0.21648420558983947,1.7538854558039043]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.4337847014929474,-1.4571587798897163,0.71338606911949],"aabb_xy":[[-0.4556744490818882,-1.5471587771789652],[-0.4118949539040066,-1.367158782600467]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.6374872891025612,-2.198750797267312,0.71338606911949],"aabb_xy":[[-0.6875847530836349,-2.262750797777124],[-0.5873898251214876,-2.1347507967575003]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.47800335981648184,-2.555800281368234,0.71338606911949],"aabb_xy":[[-0.5009190727015318,-2.5787045785046576],[-0.45508764693143194,-2.5328959842318106]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.2316953580437251,-2.1982024645572036,0.71338606911949],"aabb_xy":[[0.16769535734025579,-2.2442208470301246],[0.2956953587471945,-2.1521840820842826]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[-0.26825433720206804,-1.7845854363958948,0.71338606911949],"aabb_xy":[[-0.3057543376994263,-1.7885541199440134],[-0.2307543367047098,-1.7806167528477763]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[0.08459391530204274,-0.6265702061769669,0.71338606911949],"aabb_xy":[[0.080515757394993,-0.6306511864252302],[0.08867207320909248,-0.6224892259287036]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.2051219402970917,-2.3156883094937455,0.71338606911949],"aabb_xy":[[-0.22400632406560192,-2.3345742342740983],[-0.1862375565285815,-2.2968023847133927]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[-0.4916845193396751,-0.20409824422506917,0.71338606911949],"aabb_xy":[[-0.5141492893110803,-0.22659824510392965],[-0.4692197493682701,-0.18159824334620864]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.0055536171403844925,-2.410472258766232,0.71338606911949],"aabb_xy":[[-0.016946383103130902,-2.422676893426004],[0.028053617383899887,-2.39826762410646]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.3405577592482232,1.4444847224835695,0.71338606911949],"aabb_xy":[[-0.3791034520734242,1.4059389514273808],[-0.30201206642302214,1.4830304935397582]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.6506319837753192,1.0511470017988498,0.71338606911949],"aabb_xy":[[0.6133007072500766,1.0164939470039975],[0.6879632603005618,1.085800056593702]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6693427444584947,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8434.png","name":"8434"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8434.png","name":"8434"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7893.png","name":"7893"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7569.png","name":"7569"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7812.png","name":"7812"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2379.png","name":"2379"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":793.4848561143988,"rotation_z_degrees":69.95128880317445,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015354585652497647,0.004112026274515585,0.0011526094922619558]},{"name":"camera_2","offset_m":[-0.00039884702812999565,-0.0038840569361682335,-0.006630311156522812]},{"name":"camera_3","offset_m":[-0.016441113175972327,-0.011638001857732703,-0.010203213749833129]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00015009533937080733,-0.0017987790386883736,-0.000708055319421332],"end_effector_yaw_offset_degrees":0.7444387185287222},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011132228668990908,0.0004641419831328689,-0.00023415332960850907],"end_effector_yaw_offset_degrees":0.28909884891584725},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008131089847116147,0.00036735161235390557,0.0011197205964844537],"end_effector_yaw_offset_degrees":-0.41126053378441463}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031178743979699717,0.0017340675082895282],"position_m":[0.30908212560203,0.009634067508289528,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004727767462414564,-0.000617176449392777],"position_m":[0.27067223253758543,-0.3090171764493928,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002577060425831215,0.000830666508890329],"position_m":[0.16352293957416877,0.30533066650889035,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004023352800199462,0.0032599501941775215],"position_m":[0.3480233528001994,0.16555995019417752,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fdc1ce95d956807df04a289ecbfef191d432b14d60f0dc0a18bfd92f17d3f2fd","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0084.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8434/tex_ceiling_textures_2379/tex_floor_textures_7812/tex_table_textures_7893/tex_wall_textures_7569","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3503306985266090098,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3503306985266090098,"visual_seed":3503306985266090098,"scene_id":"lab_003","finished_at":"2026-09-04T17:35:24"} +{"episode_id":"ep_000085","started_at":"2026-09-04T17:35:27","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[-0.3034022477923246,1.287147322483801,0.71338606911949],"aabb_xy":[[-0.31139623637002795,1.2791472423887105],[-0.29540825921462116,1.2951474025788912]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[-0.2146540490964916,-0.13294470922616153,0.71338606911949],"aabb_xy":[[-0.22011199473351162,-0.21294471253382063],[-0.20919610345947148,-0.05294470591850242]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[-0.2366955395865027,-1.1663581915357626,0.71338606911949],"aabb_xy":[[-0.30069554126450004,-1.2148755830150766],[-0.1726955379085053,-1.1178408000564481]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[-0.3151654824705372,-1.8112543768542615,0.71338606911949],"aabb_xy":[[-0.37015773310604816,-1.8662543785975745],[-0.2601732318350263,-1.756254375110949]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.5481926615758268,1.087112465063167,0.71338606911949],"aabb_xy":[[-0.578184324309697,1.0571124657263664],[-0.5182009988419564,1.1171124643999675]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.265390397383767,1.2276073811497827,0.71338606911949],"aabb_xy":[[0.25812914981335966,1.2148203708862733],[0.2726516449541745,1.2403943914132922]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[-0.4758303123100308,0.20049495390081074,0.71338606911949],"aabb_xy":[[-0.5398303130135002,0.15447657142788973],[-0.41183031160656147,0.24651333637373177]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.4584694621334868,0.731098818713757,0.71338606911949],"aabb_xy":[[0.421973641506208,0.6946148762869995],[0.49496528276076546,0.7675827611405146]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.585280158682278,0.5346925926340247,0.71338606911949],"aabb_xy":[[0.5627801581702373,0.5122007342686263],[0.6077801591943185,0.557184450999423]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.5843579043349953,-1.5874074237397522,0.71338606911949],"aabb_xy":[[0.5203622069398988,-1.6514074220404606],[0.6483536017300919,-1.5234074254390433]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[-0.41602054977735836,-0.8573921770126753,0.71338606911949],"aabb_xy":[[-0.420136499889431,-0.8615077320455209],[-0.4119045996652857,-0.8532766219798298]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.00031865338517444997,-1.1846869753376332,0.71338606911949],"aabb_xy":[[-0.04965876348007913,-1.2346869768268816],[0.05029607025042803,-1.1346869738483845]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[0.5051747108953946,1.3459349074883176,0.71338606911949],"aabb_xy":[[0.47017471091889873,1.3364702914407012],[0.5401747108718904,1.3553995235359344]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.605726661365778,0.41812645457630415,0.71338606911949],"aabb_xy":[[-0.6479110755266088,0.35412645429909295],[-0.5635422472049473,0.48212645485351535]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[0.4421413976335251,-0.034635041730283866,0.71338606911949],"aabb_xy":[[0.40464139611789335,-0.04586181474642891],[0.47964139914915677,-0.023408268714138807]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.24439597833245952,1.6363076108095576,0.71338606911949],"aabb_xy":[[0.1944009673730075,1.5863076117739665],[0.29439098929191154,1.68630760984515]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[0.682736508629505,0.7959205208331466,0.71338606911949],"aabb_xy":[[0.648960949438812,0.7818820256199814],[0.7165120678201979,0.8099590160463115]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.37596574990682896,0.4521774087684447,0.71338606911949],"aabb_xy":[[0.2959657496332219,0.3792278609427279],[0.4559657501804359,0.5251269565941613]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.23408670749431337,-2.5338145708047994,0.71338606911949],"aabb_xy":[[0.18408670621047338,-2.583793425195421],[0.2840867087781533,-2.483835716414177]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.5659168990612156,-0.2231057730058681,0.71338606911949],"aabb_xy":[[0.4959168969297859,-0.2458677386315637],[0.635916901192645,-0.20034380738017238]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[0.09073733121115168,-0.7569474191829106,0.71338606911949],"aabb_xy":[[0.06782161832610178,-0.7798517163193343],[0.1136530440962016,-0.7340431220464871]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6749404561362843,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4356.png","name":"4356"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4356.png","name":"4356"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/477.png","name":"477"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7202.png","name":"7202"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9030.png","name":"9030"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1051.png","name":"1051"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":537.0590192737383,"rotation_z_degrees":248.18789576795172,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01324456410542691,-0.00021447829746479297,0.004959597693935183]},{"name":"camera_2","offset_m":[-0.01262436529888673,0.015002259776361004,0.012221920316499654]},{"name":"camera_3","offset_m":[0.0025528614531821897,0.011815396101089452,-0.005260888183683287]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006212878452626094,-0.0008885487232420143,-0.0008653988177327828],"end_effector_yaw_offset_degrees":-0.7877420168132545},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004038282930485422,0.0010372246232170888,-0.0016352330594953317],"end_effector_yaw_offset_degrees":-0.29801812600239663},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.34846517325008e-05,0.0003758279623554393,-0.0001635992134279877],"end_effector_yaw_offset_degrees":0.3936823312324953}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004820258452359572,0.0037616846910366623],"position_m":[0.3073797415476404,0.011661684691036664,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004097528925713203,0.004329429376980749],"position_m":[0.27949752892571317,-0.30407057062301923,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026321203182371844,-0.0020141376078840014],"position_m":[0.16346787968176282,0.302485862392116,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010812698158259408,-0.0027640112526065054],"position_m":[0.342918730184174,0.1595359887473935,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae0f181a7c04ec991eb58c1ec02217429b15631ac6ca532a66a32f2e91a6c22c","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4356/tex_ceiling_textures_1051/tex_floor_textures_9030/tex_table_textures_477/tex_wall_textures_7202","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6704510038674957262,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6704510038674957262,"visual_seed":6704510038674957262,"scene_id":"lab_003","finished_at":"2026-09-04T17:38:04"} +{"episode_id":"ep_000086","started_at":"2026-09-04T17:38:09","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.14208808950909868,1.3372887490306997,0.71338606911949],"aabb_xy":[[0.13274108192680345,1.3229851268130555],[0.1514350970913939,1.3515923712483435]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[0.29761227465100226,1.4984555430415436,0.71338606911949],"aabb_xy":[[0.26261227552104655,1.4927103219658793],[0.33261227378095787,1.5042007641172075]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.5377906081322656,1.4569816397385194,0.71338606911949],"aabb_xy":[[-0.5627906074042279,1.440636276142357],[-0.5127906088603034,1.4733270033346817]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.12984085523137334,-2.089708119436705,0.71338606911949],"aabb_xy":[[0.07984602230343174,-2.1397081183319484],[0.17983568815931494,-2.0397081205414613]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[-0.2584245002575736,-1.2392397952910428,0.71338606911949],"aabb_xy":[[-0.27753680761555244,-1.2583745741682848],[-0.2393121928995947,-1.2201050164138008]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.32563269103429365,-2.2342258502733214,0.71338606911949],"aabb_xy":[[-0.3330451465756821,-2.240077060694949],[-0.3182202354929052,-2.228374639851693]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[-0.24546398568278294,-0.33892225754680183,0.71338606911949],"aabb_xy":[[-0.27545564841665326,-0.3689222568836023],[-0.21547232294891264,-0.30892225821000124]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.397043798608194,0.05460398618904527,0.71338606911949],"aabb_xy":[[-0.4520392764288534,-0.0003960152448616583],[-0.3420483207875346,0.1096039876229522]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.355943868369716,1.2001030413079468,0.71338606911949],"aabb_xy":[[-0.39040621576785767,1.1656091589101238],[-0.32148152097157406,1.2345969237057692]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[0.3643955776552099,1.610592378596484,0.71338606911949],"aabb_xy":[[0.33939557848957685,1.6036401328911272],[0.3893955768208431,1.6175446243018403]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.49551820918581146,-2.4461484111763907,0.71338606911949],"aabb_xy":[[-0.5180146306196756,-2.468648410983138],[-0.4730217877519473,-2.4236484113696433]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.3712920473614596,-0.9555195407264008,0.71338606911949],"aabb_xy":[[0.36425173742792266,-1.0355195401260726],[0.3783323572949967,-0.8755195413267297]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.23943254196980202,-2.264262465262549,0.71338606911949],"aabb_xy":[[0.23150926173105368,-2.2867624655005523],[0.24735582220855035,-2.2417624650245456]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.19154152907900135,1.271031773850205,0.71338606911949],"aabb_xy":[[-0.20032275622623763,1.262252026561675],[-0.18276030193176515,1.2798115211387355]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.586700200170887,1.0740209406406866,0.71338606911949],"aabb_xy":[[0.5817441799860059,1.0515209404385655],[0.5916562203557683,1.0965209408428087]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.18068254061331757,1.119113797424201,0.71338606911949],"aabb_xy":[[-0.2606825392702036,1.104608938499938],[-0.10068254195643159,1.1336186563484638]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[-0.6333872212115941,1.7069673030095065,0.71338606911949],"aabb_xy":[[-0.6678496992246817,1.700303625826584],[-0.5989247431985062,1.7136309801924294]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.4828898520989735,-0.5013514153311669,0.71338606911949],"aabb_xy":[[0.4670053588336484,-0.5157043556299908],[0.4987743453642987,-0.4869984750323427]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[-0.5643208223345548,-2.0528507919355685,0.71338606911949],"aabb_xy":[[-0.5725353674502386,-2.0615273822332094],[-0.5561062772188706,-2.0441742016379267]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[0.45061205714092556,-1.169102994578849,0.71338606911949],"aabb_xy":[[0.41561205724490674,-1.1774772300907888],[0.4856120570369445,-1.160728759066909]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[0.344922952360726,-0.41914290562564505,0.71338606911949],"aabb_xy":[[0.32242295283701855,-0.4416388530762657],[0.36742295188443336,-0.39664695817502416]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[0.023059074681843317,0.9312934689964472,0.71338606911949],"aabb_xy":[[0.008415669127810329,0.9166347493396628],[0.0377024802358763,0.9459521886532313]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.04228090531628359,-2.3044631696387987,0.71338606911949],"aabb_xy":[[-0.0528483849743826,-2.3150081997518073],[-0.03171342565818458,-2.29391813952579]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[0.0279839929411394,0.7802251280620678,0.71338606911949],"aabb_xy":[[-0.009516005482260951,0.7670609140942372],[0.06548399136453975,0.7933893420298984]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[-0.17443830354937606,-2.4940479855354454,0.71338606911949],"aabb_xy":[[-0.2544321271279343,-2.5740479881282874],[-0.09444447997081781,-2.4140479829426043]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[0.060491684223967446,-2.531184917413739,0.71338606911949],"aabb_xy":[[0.03420285990352677,-2.5574563510683896],[0.08678050854440808,-2.504913483759087]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[-0.3005663288447041,0.5431304056100767,0.71338606911949],"aabb_xy":[[-0.311406807071219,0.5259441243194279],[-0.2897258506181892,0.5603166869007256]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_27","position":[0.03667762455657686,0.6687051122244765,0.71338606911949],"aabb_xy":[[-0.03332237883498511,0.6333893385210455],[0.10667762794813884,0.7040208859279072]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_28","position":[0.6276990379736833,0.7204111574448153,0.71338606911949],"aabb_xy":[[0.6223614623076789,0.6954111565156755],[0.633036613639688,0.7454111583739551]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_29","position":[0.440883788391327,1.1097452227623643,0.71338606911949],"aabb_xy":[[0.4172986649274322,1.0447452205169327],[0.4644689118552219,1.1747452250077963]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_30","position":[-0.207922375778005,-0.4652701613185197,0.71338606911949],"aabb_xy":[[-0.21708225472188158,-0.47180137936205674],[-0.1987624968341284,-0.4587389432749827]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_31","position":[-0.3067757057599526,1.6766264594977547,0.71338606911949],"aabb_xy":[[-0.3667757066207653,1.6252000294912679],[-0.24677570489913972,1.7280528895042406]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_32","position":[-0.015642183828113776,-1.704313457267884,0.71338606911949],"aabb_xy":[[-0.03592648655151253,-1.7245960824105926],[0.004642118895284985,-1.684030832125175]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_33","position":[0.5701379426637856,1.2189340426003477,0.71338606911949],"aabb_xy":[[0.5646799970267655,1.1389340392926883],[0.5755958883008057,1.2989340459080065]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6778526007149096,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7276.png","name":"7276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7276.png","name":"7276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8311.png","name":"8311"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6998.png","name":"6998"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4712.png","name":"4712"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6386.png","name":"6386"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":521.3322963644193,"rotation_z_degrees":311.6198569957013,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010651401565208891,0.0005317303193226285,0.013280468554856397]},{"name":"camera_2","offset_m":[0.0005667773289489246,-0.0023494833378557047,-0.00673179305737984]},{"name":"camera_3","offset_m":[0.006094671476081576,-0.011033407315990403,-0.01609065851573227]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001364486699409043,-0.0004570231144126638,-0.0017885446483963693],"end_effector_yaw_offset_degrees":0.7616796261926371},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014913873140587769,-0.0007316451344428518,0.0007906245879052225],"end_effector_yaw_offset_degrees":0.26153858598054125},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016635353421084968,-0.0012287896993472113,-0.0006773517443184303],"end_effector_yaw_offset_degrees":0.6666976861298235}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006889642923782998,0.00013669541498342527],"position_m":[0.3128889642923783,0.008036695414983426,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004139959272646212,-0.0019984638493916306],"position_m":[0.2795399592726462,-0.3103984638493916,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028700037624082705,0.0034140621217447547],"position_m":[0.16897000376240826,0.30791406212174477,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045575642301595625,0.00410226758313141],"position_m":[0.3394424357698404,0.1664022675831314,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5292c9c1e589d0ade2d4254af017033ae82426096366cbac99c6187e4972d286","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0086.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7276/tex_ceiling_textures_6386/tex_floor_textures_4712/tex_table_textures_8311/tex_wall_textures_6998","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5262213560715578995,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5262213560715578995,"visual_seed":5262213560715578995,"scene_id":"lab_003","finished_at":"2026-09-04T17:40:48"} +{"episode_id":"ep_000087","started_at":"2026-09-04T17:40:51","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[0.3684373033264603,0.8268812446521996,0.71338606911949],"aabb_xy":[[0.34592361150300305,0.756881244051192],[0.39095099514991744,0.896881245253207]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[-0.47394699974651,-1.8284999971654505,0.71338606911949],"aabb_xy":[[-0.5379470011545006,-1.8802889486893752],[-0.4099469983385193,-1.7767110456415258]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[0.4478151132297745,1.2895311256866417,0.71338606911949],"aabb_xy":[[0.44317999807754116,1.2856637906094925],[0.4524502283820079,1.29339846076379]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[0.5664044558516279,-0.06573158652763977,0.71338606911949],"aabb_xy":[[0.5604379169108922,-0.07169273118700381],[0.5723709947923636,-0.05977044186827574]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.15844250925645864,-1.7443022320277157,0.71338606911949],"aabb_xy":[[-0.1803322568453994,-1.8343022293169646],[-0.1365527616675178,-1.6543022347384664]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.5729495398758054,0.2632586272481938,0.71338606911949],"aabb_xy":[[-0.6329495397223723,0.20644000505515508],[-0.5129495400292388,0.32007724944123245]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[0.5716505706486728,1.5288908429914723,0.71338606911949],"aabb_xy":[[0.5497418885093216,1.5069901761713813],[0.5935592527880237,1.5507915098115628]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[-0.0873465669305672,0.7506506353510609,0.71338606911949],"aabb_xy":[[-0.15134656404267288,0.7016182655566504],[-0.023346569818461504,0.7996830051454716]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[0.6502238576985657,-2.0957106268934,0.71338606911949],"aabb_xy":[[0.6127238575929727,-2.102532788746381],[0.6877238578041586,-2.0888884650404185]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.4046129226819968,-0.9580409599447799,0.71338606911949],"aabb_xy":[[0.38703462049305,-0.9756154495188849],[0.4221912248709437,-0.9404664703706751]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[-0.4482586563774496,1.3597387683860709,0.71338606911949],"aabb_xy":[[-0.5132586574833928,1.3347733953179426],[-0.3832586552715064,1.3847041414541992]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.27827624910788556,1.344484143062462,0.71338606911949],"aabb_xy":[[-0.3125925262825035,1.2944841430892842],[-0.24395997193326763,1.3944841430356396]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.1527667734559941,0.6351802727670606,0.71338606911949],"aabb_xy":[[-0.15809928811060708,0.6298559445218251],[-0.1474342588013811,0.6405046010122962]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.6222464037344682,0.23792272265563108,0.71338606911949],"aabb_xy":[[0.5325593274263527,0.14792272240118057],[0.7119334800425836,0.3279227229100816]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.6730435883841565,-0.2018206645158731,0.71338606911949],"aabb_xy":[[-0.6921558957421353,-0.22095544339311513],[-0.6539312810261776,-0.18268588563863108]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[0.34214316051130855,-0.5322940524606885,0.71338606911949],"aabb_xy":[[0.2821431599152924,-0.587106525005912],[0.40214316110732473,-0.477481579915465]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.06054465639737361,-0.15189498241573274,0.71338606911949],"aabb_xy":[[-0.07518806195140659,-0.166553702072517],[-0.04590125084334062,-0.13723626275894843]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.4216844905150259,-2.0682693974879194,0.71338606911949],"aabb_xy":[[0.41427203497363735,-2.0741206079095473],[0.4290969460564143,-2.0624181870662914]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[-0.5333863609520765,-1.9671422653342927,0.71338606911949],"aabb_xy":[[-0.5683863623035581,-1.9875020012911135],[-0.4983863596005947,-1.9467825293774719]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[0.2978871500958963,1.3277274500627287,0.71338606911949],"aabb_xy":[[0.2937512937631961,1.2902274506183717],[0.3020230064285965,1.3652274495070857]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[-0.3956410708285278,0.4817374149879101,0.71338606911949],"aabb_xy":[[-0.40757380519035585,0.46935526218005075],[-0.3837083364666997,0.4941195677957695]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.27594937167936395,1.0771804336815882,0.71338606911949],"aabb_xy":[[-0.28387265191811223,1.0546804334435846],[-0.26802609144061557,1.0996804339195914]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[0.05599324178048615,-1.9868606305408385,0.71338606911949],"aabb_xy":[[0.000993242158740297,-2.041844323328311],[0.11099324140223199,-1.9318769377533658]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6739411156370773,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/634.png","name":"634"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/634.png","name":"634"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3710.png","name":"3710"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4268.png","name":"4268"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5178.png","name":"5178"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2166.png","name":"2166"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":844.9346180786656,"rotation_z_degrees":321.7867550060265,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012988665618555998,-0.015794357090100745,0.018261303402353744]},{"name":"camera_2","offset_m":[-0.019108707621054072,-0.002900305213265949,0.019510277872097425]},{"name":"camera_3","offset_m":[0.011346087677636594,-0.012153192798125158,-0.014020983675127208]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00036358467282262977,0.0017592003338701276,-0.0017811969392133454],"end_effector_yaw_offset_degrees":0.4125585677314294},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000237645469770614,-0.00036186186504326336,-0.00011518769485328135],"end_effector_yaw_offset_degrees":0.2860824909190698},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014651251799469292,-6.65115617119131e-05,0.001329693480270892],"end_effector_yaw_offset_degrees":-0.6041512594702156}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004216631137118551,-0.0020234576946528094],"position_m":[0.31177833688628814,0.005876542305347191,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019529249564558607,0.0023104661397948837],"position_m":[0.27735292495645586,-0.3060895338602051,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00289130699202846,-0.0027004334641484782],"position_m":[0.16899130699202847,0.3017995665358515,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004888008385832573,0.00012587649228336904],"position_m":[0.34888800838583256,0.16242587649228338,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"456c755c030da442ca2ba1eb9f37faaecc57f039df01521eb5a5fb48c11c7f8f","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_634/tex_ceiling_textures_2166/tex_floor_textures_5178/tex_table_textures_3710/tex_wall_textures_4268","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":7338833457509650294,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":7338833457509650294,"visual_seed":7338833457509650294,"scene_id":"lab_003","finished_at":"2026-09-04T17:43:28"} +{"episode_id":"ep_000088","started_at":"2026-09-04T17:43:31","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[0.023974701797678355,-1.6315317605256474,0.71338606911949],"aabb_xy":[[-0.01352529814608805,-1.6398248505604842],[0.06147470174144476,-1.623238670490811]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.5277324141138715,-1.148512592671018,0.71338606911949],"aabb_xy":[[-0.5385840203627471,-1.159371883398669],[-0.5168808078649959,-1.137653301943367]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.011085709599983451,-1.4714361521807515,0.71338606911949],"aabb_xy":[[-0.015985001906546947,-1.4991130714833198],[-0.006186417293419955,-1.4437592328781823]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.2961476324287282,-1.0964932969703016,0.71338606911949],"aabb_xy":[[0.21614763502513482,-1.1764858681684842],[0.37614762983232164,-1.0165007257721186]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.11084955467121393,-2.4299132058611748,0.71338606911949],"aabb_xy":[[-0.1483495544882475,-2.4345514171723166],[-0.07334955485418038,-2.425274994550033]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[0.4879061545864827,-2.3280825701966985,0.71338606911949],"aabb_xy":[[0.47977846639316946,-2.3369961786074063],[0.4960338427797959,-2.3191689617859907]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.6466141132344826,-0.1160314963904443,0.71338606911949],"aabb_xy":[[-0.6641141134795319,-0.13353128423001112],[-0.6291141129894331,-0.09853170855087744]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.707567952461809,-2.365673517041315,0.71338606911949],"aabb_xy":[[0.6979363162413793,-2.3753108298210237],[0.7171995886822385,-2.356036204261606]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[0.14604981632006486,-0.8986738043283662,0.71338606911949],"aabb_xy":[[0.13733584727013035,-0.9211738049875544],[0.15476378536999932,-0.876173803669178]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.18626753096064885,-1.6244416305496656,0.71338606911949],"aabb_xy":[[-0.19431089088660403,-1.7094416316450318],[-0.17822417103469368,-1.539441629454299]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[-0.5771297280987728,0.8091063534924259,0.71338606911949],"aabb_xy":[[-0.6114460052733908,0.759106353519248],[-0.5428134509241549,0.8591063534656035]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[-0.4128569795968496,0.8662152572461523,0.71338606911949],"aabb_xy":[[-0.4210715247125335,0.8575386669485109],[-0.40464243448116555,0.8748918475437936]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.16553088553378548,-0.7539178547178123,0.71338606911949],"aabb_xy":[[-0.1784027890347256,-0.8339178551316484],[-0.1526589820328453,-0.6739178543039761]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[-0.48570996323373505,0.01174073349354643,0.71338606911949],"aabb_xy":[[-0.5232099637310934,0.007772049945428017],[-0.44820996273637687,0.01570941704166484]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.5449529648174889,1.382193776497536,0.71338606911949],"aabb_xy":[[-0.5547089543266628,1.3724312424383016],[-0.535196975308315,1.3919563105567705]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[0.07033003779143043,-2.054356763783107,0.71338606911949],"aabb_xy":[[0.044041213470989764,-2.080628197437758],[0.09661886211187108,-2.0280853301284556]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[0.5056302139581681,-1.677323305110351,0.71338606911949],"aabb_xy":[[0.4923992684234867,-1.6905507241323503],[0.5188611594928493,-1.6640958860883515]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[-0.5866229400743017,-0.22104410330108104,0.71338606911949],"aabb_xy":[[-0.6041229392086688,-0.23092373033866886],[-0.5691229409399344,-0.21116447626349322]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.39315126778706283,0.47141355729945333,0.71338606911949],"aabb_xy":[[-0.39848378244167587,0.46608922905421774],[-0.3878187531324499,0.47673788554468893]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[-0.47707712248133305,-0.2637239767725865,0.71338606911949],"aabb_xy":[[-0.4841185734320807,-0.27075072851038107],[-0.4700356715305855,-0.256697225034792]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[-0.12588598706547183,-0.23043822721955554,0.71338606911949],"aabb_xy":[[-0.12979986026089432,-0.23918724262611232],[-0.12197211387004928,-0.2216892118129988]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[0.2766746066544399,-1.8842037548584558,0.71338606911949],"aabb_xy":[[0.22657714267336626,-1.9482037553682676],[0.3267720706355135,-1.820203754348644]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.42760576219827917,-0.6251598399624319,0.71338606911949],"aabb_xy":[[-0.4852362310855499,-0.6851598388891422],[-0.36997529331100826,-0.565159841035721]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[-0.2063569384795057,0.29004251205793974,0.71338606911949],"aabb_xy":[[-0.27135693943663286,0.2380943001242342],[-0.1413569375223785,0.3419907239916453]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[-0.0926424505611202,0.011706508325422416,0.71338606911949],"aabb_xy":[[-0.13872754181585167,-0.052293488927132696],[-0.04655735930638872,0.07570650557797752]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[0.6302042507450303,0.9895323380174283,0.71338606911949],"aabb_xy":[[0.5652042525891112,0.9632360934675162],[0.6952042489009493,1.0158285825673405]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[0.6375770447102596,0.464865788724075,0.71338606911949],"aabb_xy":[[0.5735770426605276,0.4247713056347671],[0.7015770467599916,0.504960271813383]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6750467932605025,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1684.png","name":"1684"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1684.png","name":"1684"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3531.png","name":"3531"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8246.png","name":"8246"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7522.png","name":"7522"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3474.png","name":"3474"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":835.6118111229869,"rotation_z_degrees":17.3567093201148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019142553425459705,-0.014061012584739215,0.008072431839076064]},{"name":"camera_2","offset_m":[0.00670654981387496,0.018232723906920118,-0.007053785161918626]},{"name":"camera_3","offset_m":[-0.016767996856695926,0.019276988254446886,0.0010429361974606081]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001687922426818394,-0.00011612996227829521,-0.0018004190765719176],"end_effector_yaw_offset_degrees":-0.6311275235494895},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00014910766595845797,0.000376050339629752,0.00034457672414484617],"end_effector_yaw_offset_degrees":-0.5342002319385399},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019778201033818854,-0.001126717789742807,-0.00013128239299290334],"end_effector_yaw_offset_degrees":-0.3957961677117725}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038652257299659045,-0.0028385584319329084],"position_m":[0.3083347742700341,0.005061441568067092,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0041888846530455616,0.004274431365592554],"position_m":[0.27958888465304554,-0.30412556863440743,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004020582293174615,0.0034602432391922762],"position_m":[0.16207941770682538,0.30796024323919224,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00135301137907054,0.0034323467771474716],"position_m":[0.34264698862092946,0.16573234677714746,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"28f9b35235be87984327815c43bff715efe0f1114ff6d388adf698aa9fcb48de","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0088.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1684/tex_ceiling_textures_3474/tex_floor_textures_7522/tex_table_textures_3531/tex_wall_textures_8246","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3408798405810780620,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3408798405810780620,"visual_seed":3408798405810780620,"scene_id":"lab_003","finished_at":"2026-09-04T17:46:15"} +{"episode_id":"ep_000089","started_at":"2026-09-04T17:46:18","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[0.01102281582559872,1.1375083604312124,0.71338606911949],"aabb_xy":[[-0.002208129709082577,1.124280941409213],[0.02425376136028001,1.1507357794532118]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[0.12432883544879736,1.1707969353739225,0.71338606911949],"aabb_xy":[[0.09393072434965376,1.1403900333722528],[0.15472694654794092,1.2012038373755918]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.5442334945480379,-2.3820017233617725,0.71338606911949],"aabb_xy":[[-0.5692334938200002,-2.398347086957935],[-0.5192334952760757,-2.36565635976561]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[0.2570253942272722,1.5235447220636629,0.71338606911949],"aabb_xy":[[0.228695684278732,1.5190839798699458],[0.28535510417581245,1.52800546425738]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.5063997598936442,-0.48323959627358537,0.71338606911949],"aabb_xy":[[-0.5195510058649336,-0.508239596030272],[-0.4932485139223549,-0.45823959651689894]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.3966510934837526,-0.6454040406301886,0.71338606911949],"aabb_xy":[[0.3854060379131347,-0.6566458383542839],[0.4078961490543704,-0.6341622429060934]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.49497226768532065,-1.5747963422455726,0.71338606911949],"aabb_xy":[[-0.5284514349463616,-1.6082754556166798],[-0.46149310042427977,-1.5413172288744659]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.45517568348427845,-1.293827250255423,0.71338606911949],"aabb_xy":[[-0.5050583803619748,-1.3438272495016979],[-0.4052929866065824,-1.2438272510091484]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[0.5510940564317619,0.8397048365008972,0.71338606911949],"aabb_xy":[[0.4870940571375937,0.7757186961320429],[0.6150940557259301,0.9036909768697513]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.30582599819615575,1.1408131221093796,0.71338606911949],"aabb_xy":[[-0.34332599836802763,1.1081123867264722],[-0.26832599802428375,1.1735138574922865]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.5135052065436468,-1.1392068632686985,0.71338606911949],"aabb_xy":[[-0.5935052035578948,-1.1593414149421097],[-0.43350520952939886,-1.1190723115952872]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.24144812576420388,1.2938868074434189,0.71338606911949],"aabb_xy":[[-0.24848957671495148,1.2868600557056245],[-0.23440667481345628,1.3009135591812133]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[-0.26604683638235854,-1.1524004181486338,0.71338606911949],"aabb_xy":[[-0.30104683557517675,-1.1633674641462963],[-0.23104683718954022,-1.1414333721509708]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.4199367918033958,0.6611885494564955,0.71338606911949],"aabb_xy":[[0.4070648883024557,0.5811885490426594],[0.43280869530433597,0.7411885498703317]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[-0.21072807370384034,-0.8682961699206779,0.71338606911949],"aabb_xy":[[-0.2747280739643111,-0.9133049692736058],[-0.1467280734433695,-0.8232873705677498]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[-0.6204995968380336,-1.6021718709026178,0.71338606911949],"aabb_xy":[[-0.6504912595719039,-1.6321718702394183],[-0.5905079341041632,-1.5721718715658173]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.1651788586037255,-1.9562599688656426,0.71338606911949],"aabb_xy":[[0.15876504496054056,-1.9626697891133107],[0.17159267224691044,-1.949850148617974]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.49625623021955456,-0.6226311567195502,0.71338606911949],"aabb_xy":[[-0.5208024458423052,-0.6528800532685872],[-0.4717100145968038,-0.5923822601705131]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[-0.0011596396323769742,0.9925687889919663,0.71338606911949],"aabb_xy":[[-0.01783677562547248,0.975868865018036],[0.01551749636071853,1.0092687129658966]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.08530327199888565,0.6703919867785904,0.71338606911949],"aabb_xy":[[-0.11976561939702743,0.6358981043807674],[-0.05084092460074383,0.7048858691764128]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[0.39035167197359355,0.37099695912355335,0.71338606911949],"aabb_xy":[[0.35535167062211176,0.35063722316673246],[0.42535167332507523,0.39135669508037413]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.007117626497136542,-0.7067143178899882,0.71338606911949],"aabb_xy":[[-0.012450141151749528,-0.7120386461352237],[-0.0017851118425235568,-0.7013899896447526]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_22","position":[0.07145589644121109,1.0183334099352184,0.71338606911949],"aabb_xy":[[0.06342962581058509,1.0095819149578658],[0.07948216707183708,1.027084904912571]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[-0.23021272819826172,0.20990027476858764,0.71338606911949],"aabb_xy":[[-0.23652482773460015,0.20413333551536883],[-0.22390062866192328,0.2156672140218065]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[-0.5638212814434815,0.9354635068258434,0.71338606911949],"aabb_xy":[[-0.601321281260515,0.9308252955147016],[-0.5263212816264479,0.9401017181369853]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[-0.5426377404171907,-2.5184152933296433,0.71338606911949],"aabb_xy":[[-0.5506312302124728,-2.5264134252701194],[-0.5346442506219088,-2.510417161389168]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_26","position":[-0.45924302220767343,0.025839438888947353,0.71338606911949],"aabb_xy":[[-0.523243023615664,-0.02594951263497735],[-0.3952430207996827,0.07762839041287205]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_27","position":[-0.4523690196438803,0.5130159935346752,0.71338606911949],"aabb_xy":[[-0.5023690210047675,0.46303808895925963],[-0.4023690182829931,0.5629938981100908]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_28","position":[0.2814622868417186,-1.1463259301670026,0.71338606911949],"aabb_xy":[[0.25624144998187887,-1.1715496810198889],[0.3066831237015582,-1.1211021793141154]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_29","position":[0.038457201449759615,-1.1832030850172646,0.71338606911949],"aabb_xy":[[0.020781570861161284,-1.200883301296667],[0.05613283203835795,-1.1655228687378616]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_30","position":[-0.5843545478403307,-1.8937215538748693,0.71338606911949],"aabb_xy":[[-0.6343538230087669,-1.943721555150817],[-0.5343552726718945,-1.8437215525989226]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_31","position":[-0.5948456407473365,-0.04319669591676245,0.71338606911949],"aabb_xy":[[-0.6057514168348992,-0.1231966923155916],[-0.5839398646597738,0.03680330048206671]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_32","position":[0.11322341973022554,1.4061929342584558,0.71338606911949],"aabb_xy":[[0.05322341988365874,1.349374312065417],[0.17322341957679233,1.4630115564514943]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_33","position":[0.5302806089451952,-0.7115399885876403,0.71338606911949],"aabb_xy":[[0.5159461838190318,-0.7236002041421792],[0.5446150340713587,-0.6994797730331015]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6770518693831101,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2470.png","name":"2470"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2470.png","name":"2470"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4395.png","name":"4395"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4959.png","name":"4959"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8520.png","name":"8520"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/989.png","name":"989"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":559.0750326336644,"rotation_z_degrees":351.6481340413705,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010652200643113917,-0.01592914542945042,0.002199407477009297]},{"name":"camera_2","offset_m":[0.015334779621556997,-0.007793025189107374,0.005746683387992179]},{"name":"camera_3","offset_m":[0.01288684950801047,-0.007803887629092454,0.0001350999867465244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013105184812763526,-0.0018147887616109996,0.00022707808816959394],"end_effector_yaw_offset_degrees":0.40583700696205915},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017089401696243926,0.00027033104405455423,-0.0003668671253576367],"end_effector_yaw_offset_degrees":0.9727040423582669},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016863191511537314,0.0013452825904625878,0.0016111070788362818],"end_effector_yaw_offset_degrees":0.9951768177946587}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006842537217762405,-0.0023743861903115773],"position_m":[0.31151574627822376,0.0055256138096884235,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022034191939486504,-0.003997896435546536],"position_m":[0.27760341919394865,-0.31239789643554655,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024499828179836793,-0.0001309023033808001],"position_m":[0.16365001718201633,0.3043690976966192,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004739141199835346,0.0033306850184329504],"position_m":[0.34873914119983535,0.16563068501843295,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e49a2634d7c0a6ad39295deb778bca81d072ce7abb4942d11cf5622284938a9a","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2470/tex_ceiling_textures_989/tex_floor_textures_8520/tex_table_textures_4395/tex_wall_textures_4959","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":1154894743579749934,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":1154894743579749934,"visual_seed":1154894743579749934,"scene_id":"lab_003","finished_at":"2026-09-04T17:48:59"} +{"episode_id":"ep_000090","started_at":"2026-09-04T17:49:03","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.21776282881104558,0.9284921269956974,0.71338606911949],"aabb_xy":[[-0.2599472429718763,0.8644921267184862],[-0.17557841465021484,0.9924921272729086]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[-0.5495492647707879,1.2088385744617374,0.71338606911949],"aabb_xy":[[-0.5582472270615032,1.1967136001542629],[-0.5408513024800726,1.2209635487692123]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[0.6250293513341143,1.3503027311255091,0.71338606911949],"aabb_xy":[[0.5900293514380954,1.341928495613569],[0.6600293512301332,1.3586769666374492]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.45810202179775117,-0.7808062659090673,0.71338606911949],"aabb_xy":[[0.4404691862042236,-0.7984292119246903],[0.47573485739127874,-0.7631833198934443]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.14982952697188445,-1.0172074264299305,0.71338606911949],"aabb_xy":[[-0.2138295286498818,-1.0657248179092447],[-0.0858295252938871,-0.9686900349506162]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.290924781760566,0.5775873736857706,0.71338606911949],"aabb_xy":[[0.20092477942654696,0.500105019100658],[0.3809247840945851,0.6550697282708833]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.6065411166008523,-0.9587136014895623,0.71338606911949],"aabb_xy":[[-0.6351904489612684,-0.987359160766638],[-0.577891784240436,-0.9300680422124864]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.572133804994363,1.5059109635723584,0.71338606911949],"aabb_xy":[[0.5021338085844009,1.4854730279206765],[0.6421338014043245,1.52634889922404]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.1035842254289322,-1.178077198939116,0.71338606911949],"aabb_xy":[[-0.13702440062495178,-1.211520824770046],[-0.07014405023291258,-1.1446335731081858]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[-0.41551705605235756,-0.7295160947664552,0.71338606911949],"aabb_xy":[[-0.48551705786110294,-0.7508698635306427],[-0.34551705424361207,-0.7081623260022679]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.05404468246659466,-2.1306568363385128,0.71338606911949],"aabb_xy":[[-0.08401223937642033,-2.1606568366363987],[-0.024077125556768997,-2.100656836040627]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.27861433281464854,-0.35795122217046416,0.71338606911949],"aabb_xy":[[-0.3426143299267542,-0.40698359196487477],[-0.21461433570254285,-0.30891885237605354]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[-0.13743858448496593,-2.2845795816893655,0.71338606911949],"aabb_xy":[[-0.14707022070539555,-2.2942168944690744],[-0.1278069482645363,-2.2749422689096566]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[-0.19247815341868602,-2.4639725945225326,0.71338606911949],"aabb_xy":[[-0.23747815488491492,-2.5089724513840133],[-0.1474781519524572,-2.418972737661052]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[-0.6104733497396126,0.6759675360079758,0.71338606911949],"aabb_xy":[[-0.6904733502098287,0.6676568283936275],[-0.5304733492693968,0.6842782436223243]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.1780968441464007,-1.2850359982185642,0.71338606911949],"aabb_xy":[[0.1700605094451159,-1.293074117522981],[0.18613317884768557,-1.2769978789141474]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.08507503772904301,1.6482497430017378,0.71338606911949],"aabb_xy":[[0.07074061260287956,1.6361895274471987],[0.09940946285520647,1.6603099585562764]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[-0.5970251905125801,0.0198730823455322,0.71338606911949],"aabb_xy":[[-0.6170836021258204,-0.00019200456362533647],[-0.5769667788993398,0.03993816925468974]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.29081981181002137,1.151037432698347,0.71338606911949],"aabb_xy":[[0.26753796961188997,1.0660374314011187],[0.31410165400815265,1.2360374339955749]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[0.18943911333941754,-2.23604909669483,0.71338606911949],"aabb_xy":[[0.15193911352238398,-2.2406873080059717],[0.2269391131564511,-2.231410885383688]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.41271837058575156,0.40451055358136667,0.71338606911949],"aabb_xy":[[0.39243406786235274,0.38422792843865783],[0.43300267330915027,0.4247931787240755]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[0.6903733624363126,-0.17941112886827915,0.71338606911949],"aabb_xy":[[0.6829609068949242,-0.1852623392899071],[0.6977858179777011,-0.1735599184466512]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[0.20316856302904107,1.5130162347793266,0.71338606911949],"aabb_xy":[[0.19260108337094206,1.502471204666318],[0.21373604268714008,1.5235612648923351]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[-0.41391913055787644,1.6205670225385087,0.71338606911949],"aabb_xy":[[-0.42095944049141354,1.5405670231388375],[-0.40687882062433955,1.7005670219381803]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[0.06814809719400039,-1.7441749640954147,0.71338606911949],"aabb_xy":[[0.018153264266058802,-1.7941749629906583],[0.118142930121942,-1.6941749652001712]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[0.34780146828981384,-1.9355936633141795,0.71338606911949],"aabb_xy":[[0.3303014680447644,-1.9530934511537457],[0.36530146853486317,-1.918093875474612]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[-0.4510201004381168,-1.4350646817124943,0.71338606911949],"aabb_xy":[[-0.4582813480085242,-1.4478516919760038],[-0.4437588528677094,-1.4222776714489849]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[-0.21708646816479438,-1.3735436903356981,0.71338606911949],"aabb_xy":[[-0.22052714440485155,-1.3774051233100626],[-0.2136457919247372,-1.3696822573613336]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_28","position":[-0.11288436960417858,1.728127877110286,0.71338606911949],"aabb_xy":[[-0.17288437046499136,1.676701447103799],[-0.052884368743365766,1.7795543071167719]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_29","position":[-0.6582300486060293,-0.17673614082681688,0.71338606911949],"aabb_xy":[[-0.6655123649826927,-0.2667361444363258],[-0.6509477322293654,-0.08673613721730787]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_30","position":[0.5139310716215741,-0.01896089870157125,0.71338606911949],"aabb_xy":[[0.4796147944469563,-0.06896089867474897],[0.5482473487961922,0.031039101271606473]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_31","position":[-0.18238892324509182,-1.6003525431928494,0.71338606911949],"aabb_xy":[[-0.190432283171047,-1.6853525442882156],[-0.17434556331913664,-1.5153525420974827]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_32","position":[-0.1242544628812291,1.1027881543690534,0.71338606911949],"aabb_xy":[[-0.14013895614655425,1.0884352140702294],[-0.10836996961590395,1.1171410946678775]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_33","position":[0.6692572733286315,0.6793636989715517,0.71338606911949],"aabb_xy":[[0.6600973943847549,0.6728324809280146],[0.6784171522725081,0.6858949170150888]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6732551812849226,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6501.png","name":"6501"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6501.png","name":"6501"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9834.png","name":"9834"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8590.png","name":"8590"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7376.png","name":"7376"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4876.png","name":"4876"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":504.62644131824544,"rotation_z_degrees":13.101381942679659,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014460585127744337,-0.0009452077145865843,-0.005857736733216044]},{"name":"camera_2","offset_m":[0.007820634984483169,0.004667374288073161,0.0064733827556991]},{"name":"camera_3","offset_m":[0.0073402108001665405,-0.009983609485113454,0.003426193402994406]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001723742592263139,0.00013647069240014771,0.0007385639667919081],"end_effector_yaw_offset_degrees":0.15295607568547775},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001060432243931134,0.0012267884041926155,-0.0005394741366388112],"end_effector_yaw_offset_degrees":0.36850439954759473},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000645046017015892,0.0016592549076672215,-0.0005713361989718498],"end_effector_yaw_offset_degrees":-0.873041106272342}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004033273100366527,0.00034175737031927854],"position_m":[0.31623327310036653,0.00824175737031928,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002415412458055468,0.0047370824854075415],"position_m":[0.27781541245805547,-0.30366291751459246,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005089382032225807,0.0007572378826843432],"position_m":[0.1655910617967774,0.30525723788268433,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002478071124089364,-0.0017056458838432408],"position_m":[0.34647807112408935,0.16059435411615675,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"83afa9bc743313cf1bbbbe06d7e98a3da4460d911f3c8148404420c7fcd6c027","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0090.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6501/tex_ceiling_textures_4876/tex_floor_textures_7376/tex_table_textures_9834/tex_wall_textures_8590","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":7189258921950702625,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":7189258921950702625,"visual_seed":7189258921950702625,"scene_id":"lab_003","finished_at":"2026-09-04T17:51:43"} +{"episode_id":"ep_000091","started_at":"2026-09-04T17:51:47","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[-0.582329178153047,0.43921690313723305,0.71338606911949],"aabb_xy":[[-0.6623230017316053,0.35921690054439154],[-0.5023353545744889,0.5192169057300746]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.7002123309678454,1.2010115016249534,0.71338606911949],"aabb_xy":[[0.6813279471993352,1.1821255768446006],[0.7190967147363556,1.2198974264053062]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[-0.06682962481570565,0.9380135145982433,0.71338606911949],"aabb_xy":[[-0.07482361339340902,0.9300134345031529],[-0.05883563623800224,0.9460135946933336]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.10870392558498632,-1.440977684695105,0.71338606911949],"aabb_xy":[[-0.11833556180541592,-1.4506149974748137],[-0.09907228936455668,-1.4313403719153959]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[0.6325392030545862,-1.7141545782173253,0.71338606911949],"aabb_xy":[[0.6261253894114012,-1.7205643984649936],[0.638953016697771,-1.707744757969657]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.1931188226753835,-1.34979094654856,0.71338606911949],"aabb_xy":[[0.14784020779423424,-1.4137909458967437],[0.23839743755653275,-1.2857909472003763]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.051294753933960324,-0.6106558077140292,0.71338606911949],"aabb_xy":[[0.044793117425955715,-0.6204236297403389],[0.057796390441964954,-0.6008879856877194]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.16710843544524412,-0.42552008714477507,0.71338606911949],"aabb_xy":[[-0.20565412827044519,-0.46406585820096374],[-0.1285627426200431,-0.3869743160885864]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.4963120893553805,0.9722407115452021,0.71338606911949],"aabb_xy":[[0.4857446096972815,0.9616956814321934],[0.5068795690134795,0.9827857416582105]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.35730355426972726,-0.9387101537607925,0.71338606911949],"aabb_xy":[[-0.3744056322280955,-0.9558169592920622],[-0.34020147631135916,-0.9216033482295227]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[-0.2884301931079037,-1.8953485906737435,0.71338606911949],"aabb_xy":[[-0.3195771119514868,-1.9653485893605507],[-0.25728327426432057,-1.8253485919869363]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[-0.33219613878511417,-2.1169100329519575,0.71338606911949],"aabb_xy":[[-0.41219614021524137,-2.196427187964567],[-0.25219613735498697,-2.037392877939348]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.10948521629217955,-2.2634476220225515,0.71338606911949],"aabb_xy":[[0.09037290893420069,-2.282582400899794],[0.12859752365015842,-2.24431284314531]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_13","position":[-0.3284956143536258,0.5025747161963432,0.71338606911949],"aabb_xy":[[-0.33926858827499357,0.4675747179773042],[-0.317722640432258,0.5375747144153822]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[-0.4506623757514866,-1.790784968308652,0.71338606911949],"aabb_xy":[[-0.47055341563182695,-1.8034407795933491],[-0.43077133587114647,-1.7781291570239555]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.22226641914739897,-2.5455376398000866,0.71338606911949],"aabb_xy":[[0.19227475641352865,-2.575537639136887],[0.2522580818812693,-2.515537640463286]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.3768261203890928,-1.351186564992203,0.71338606911949],"aabb_xy":[[0.36435876227935715,-1.3636518896255265],[0.38929347849882845,-1.3387212403588795]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.13294157279314966,-1.7227950085471728,0.71338606911949],"aabb_xy":[[-0.18275835225798442,-1.7727950070314764],[-0.0831247933283149,-1.6727950100628697]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.5679288898041925,-1.911664609028832,0.71338606911949],"aabb_xy":[[0.5311342566792863,-1.9485704841254143],[0.6047235229290988,-1.8747587339322498]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[0.5183506563895357,-1.001441792997701,0.71338606911949],"aabb_xy":[[0.4682531924084622,-1.065441793507513],[0.5684481203706094,-0.9374417924878893]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.06213530357768471,-0.6069194448801709,0.71338606911949],"aabb_xy":[[-0.1121353022236059,-0.6568389885396332],[-0.012135304931763506,-0.5569999012207084]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[-0.6593007312450831,0.9503657094355451,0.71338606911949],"aabb_xy":[[-0.6795850339684818,0.9300830842928361],[-0.6390164285216843,0.9706483345782538]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.5545019412572547,-0.5244763740827372,0.71338606911949],"aabb_xy":[[-0.634501942330375,-0.5342544204201216],[-0.4745019401841344,-0.5146983277453527]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6673678737968093,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2156.png","name":"2156"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2156.png","name":"2156"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5403.png","name":"5403"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2166.png","name":"2166"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5059.png","name":"5059"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/39.png","name":"39"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":745.659441825534,"rotation_z_degrees":90.87515304943386,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005839390424217276,-0.01857296656875418,0.001955621757116003]},{"name":"camera_2","offset_m":[0.0038983687858296055,-0.011528806629034603,-0.0009622173206870963]},{"name":"camera_3","offset_m":[0.006562147787081862,0.016124631107397838,-0.008582010092516846]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007002354959114339,-0.0005777768624410297,0.0011996962050930186],"end_effector_yaw_offset_degrees":-0.42310424074226605},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012522728875911855,0.0015745644082305913,0.00010866929693592988],"end_effector_yaw_offset_degrees":0.16301832006154982},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011923096488647188,0.0005942651311785893,0.0019909572064298105],"end_effector_yaw_offset_degrees":0.1721758831511062}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001614980322829882,0.00460220943531734],"position_m":[0.31381498032282984,0.012502209435317341,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049676485555446145,0.003217039214617772],"position_m":[0.2704323514444554,-0.30518296078538226,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022089317286962487,-0.000483440325547038],"position_m":[0.16389106827130376,0.30401655967445296,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004575659074961671,0.00041948149378991367],"position_m":[0.34857565907496163,0.16271948149378992,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"164b218a5017a45adf0ea8b606eaf810b8800f0e859615eea02503cdd1b040e9","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0091.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2156/tex_ceiling_textures_39/tex_floor_textures_5059/tex_table_textures_5403/tex_wall_textures_2166","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":9095250139311708723,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":9095250139311708723,"visual_seed":9095250139311708723,"scene_id":"lab_003","finished_at":"2026-09-04T17:54:31"} +{"episode_id":"ep_000092","started_at":"2026-09-04T17:54:34","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.10793159963675869,-2.166366268538307,0.71338606911949],"aabb_xy":[[0.09025596904816033,-2.18404648481771],[0.12560723022535697,-2.1486860522589044]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.591928758762739,-0.9739115107425775,0.71338606911949],"aabb_xy":[[-0.6819287581811099,-1.0072870075867673],[-0.5019287593443681,-0.9405360138983878]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[-0.4086023886657563,0.7603261254878757,0.71338606911949],"aabb_xy":[[-0.4431934715198015,0.6953261252028445],[-0.37401130581171105,0.8253261257729066]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.11712920887347311,-1.1300860145096796,0.71338606911949],"aabb_xy":[[-0.1230957478142089,-1.1360471591690435],[-0.11116266993273732,-1.1241248698503152]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.2831821548756268,-2.098126744801731,0.71338606911949],"aabb_xy":[[-0.363182151838666,-2.1752023864455046],[-0.20318215791258765,-2.0210511031579577]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[-0.1434466364864485,0.7738711608278295,0.71338606911949],"aabb_xy":[[-0.1886179543346175,0.7098711636832911],[-0.09827531863827954,0.837871157972368]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.10992820860584818,-1.3814312370681419,0.71338606911949],"aabb_xy":[[0.04492821072420038,-1.4325549007746825],[0.17492820648749596,-1.3303075733616008]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[-0.573626751098508,-2.269473186636913,0.71338606911949],"aabb_xy":[[-0.5824288064074806,-2.2772845127918417],[-0.5648246957895352,-2.2616618604819836]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.11423084141091444,1.048803427684764,0.71338606911949],"aabb_xy":[[-0.15922342812936485,1.0038034284103152],[-0.06923825469246403,1.0938034269592127]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.3615968555019466,-0.8553772981291132,0.71338606911949],"aabb_xy":[[-0.36551072869736906,-0.8641263135356699],[-0.357682982306524,-0.8466282827225563]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[-0.2920087019147121,0.1676368654561089,0.71338606911949],"aabb_xy":[[-0.29993198215346045,0.14513686521810554],[-0.2840854216759638,0.19013686569411226]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.4705567528790555,0.10484157814890827,0.71338606911949],"aabb_xy":[[0.4330567544556551,0.09167736418107762],[0.5080567513024559,0.11800579211673888]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.29226127887188386,0.5090753691237744,0.71338606911949],"aabb_xy":[[-0.30316705495944657,0.4290753727249452],[-0.28135550278432114,0.5890753655226035]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[-0.3536657401633695,0.17086191384346883,0.71338606911949],"aabb_xy":[[-0.35762622393310384,0.16319404925794823],[-0.34970525639363514,0.17852977842898943]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.12189939212034484,-1.6552083282524792,0.71338606911949],"aabb_xy":[[0.1090274886194047,-1.7352083286663154],[0.13477129562128498,-1.575208327838643]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[-0.13017975754459388,-0.05592346028656037,0.71338606911949],"aabb_xy":[[-0.15540059440443352,-0.0811472111394471],[-0.1049589206847542,-0.030699709433673613]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.6196411834949184,0.615942389528835,0.71338606911949],"aabb_xy":[[-0.6371878784110372,0.5784423879645837],[-0.6020944885787993,0.6534423910930862]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[-0.10417040708848979,-0.1785057259230598,0.71338606911949],"aabb_xy":[[-0.16817040900083213,-0.23441687518107027],[-0.040170405176147464,-0.12259457666504939]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[0.5705025365562351,0.14477166590198287,0.71338606911949],"aabb_xy":[[0.5608709003358054,0.13513435312227395],[0.5801341727766647,0.1544089786816918]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.1538947363000457,0.7547745262915244,0.71338606911949],"aabb_xy":[[0.08989473899769929,0.7104080993236674],[0.2178947336023921,0.799140953259381]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[0.5052227141386005,-2.404790152321478,0.71338606911949],"aabb_xy":[[0.4958052395687378,-2.4142063294591973],[0.5146401887084633,-2.3953739751837593]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[-0.5114785301995258,-0.4469427360448175,0.71338606911949],"aabb_xy":[[-0.5754785318775232,-0.4954601275241317],[-0.4474785285215285,-0.39842534456550327]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.20509437004407338,-1.6053544237088437,0.71338606911949],"aabb_xy":[[-0.27509436645403507,-1.6257923593605248],[-0.1350943736341115,-1.5849164880571613]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6748221766390008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4128.png","name":"4128"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4128.png","name":"4128"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7044.png","name":"7044"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9150.png","name":"9150"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9936.png","name":"9936"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/348.png","name":"348"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":515.2341124008135,"rotation_z_degrees":315.8010876142966,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0147003696215828,-0.004544761140886587,0.013070675464603308]},{"name":"camera_2","offset_m":[-0.012201332603946874,-0.010003013853403861,0.010788538865535827]},{"name":"camera_3","offset_m":[0.016642540416412877,0.007919252746534346,-0.017994300760634744]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00176310627524524,0.0007271460202536635,-0.0014098111850023602],"end_effector_yaw_offset_degrees":0.8502964962759765},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00045070711693270577,0.0007414275641839429,0.0011715544493406697],"end_effector_yaw_offset_degrees":0.8742297858736403},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00026568524586835637,0.0003229412310604587,0.0012405989418344402],"end_effector_yaw_offset_degrees":-0.885958813129216}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007007644281059999,-0.0030326404670632323],"position_m":[0.31149923557189396,0.004867359532936768,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007387628223710216,-0.004815678433765533],"position_m":[0.27466123717762897,-0.3132156784337655,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0004945117613949952,0.004911900552690967],"position_m":[0.165605488238605,0.30941190055269097,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002941688917536915,0.002465341845039116],"position_m":[0.3469416889175369,0.1647653418450391,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"86a4a8ec5fd574f862ddf258a8e33c05427d37fe2d42c5cdae1173d8370c9ed8","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0092.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4128/tex_ceiling_textures_348/tex_floor_textures_9936/tex_table_textures_7044/tex_wall_textures_9150","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":738230383543101188,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":738230383543101188,"visual_seed":738230383543101188,"scene_id":"lab_003","finished_at":"2026-09-04T17:57:20"} +{"episode_id":"ep_000093","started_at":"2026-09-04T17:57:24","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.4941762189035426,-1.7680905026644766,0.71338606911949],"aabb_xy":[[0.4585470630035829,-1.8037231694213294],[0.5298053748035023,-1.7324578359076235]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[0.21231532479700244,-1.844870004689167,0.71338606911949],"aabb_xy":[[0.18780170069999655,-1.8691345979912035],[0.23682894889400827,-1.8206054113871306]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[0.2547881361385713,-2.450652878366746,0.71338606911949],"aabb_xy":[[0.19478813527775843,-2.5020793083732316],[0.314788136999384,-2.3992264483602592]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.287016099327737,0.9525785420021058,0.71338606911949],"aabb_xy":[[-0.32434737585297957,0.9179254872072536],[-0.24968482280249435,0.9872315967969582]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.021749959073213643,-1.541298966411765,0.71338606911949],"aabb_xy":[[-0.03781188653173129,-1.6262989682243565],[-0.005688031614696001,-1.4562989645991729]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.4479646910009334,0.9779687711278999,0.71338606911949],"aabb_xy":[[0.4303863888119866,0.9603942815537949],[0.4655429931898803,0.9955432607020047]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.024902112447426572,1.628689976892694,0.71338606911949],"aabb_xy":[[-0.08890210955953226,1.5796576070982833],[0.03909788466467912,1.6777223466871045]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[-0.40426912533377374,1.097976613144788,0.71338606911949],"aabb_xy":[[-0.40890424048600704,1.094109278067639],[-0.3996340101815402,1.1018439482219364]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.24646946074809228,1.5572682762419805,0.71338606911949],"aabb_xy":[[0.18146946219101945,1.5275157428280979],[0.3114694593051651,1.5870208096558631]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.5377599005900213,1.1580301102126698,0.71338606911949],"aabb_xy":[[0.4737599002124877,1.1082848433618575],[0.6017599009675549,1.207775377063482]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.24259528582799977,1.2391402090632018,0.71338606911949],"aabb_xy":[[-0.25604181246204316,1.2256703574101104],[-0.22914875919395647,1.252610060716293]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.49380311433978874,-1.099673871642941,0.71338606911949],"aabb_xy":[[-0.5389744321879577,-1.1636738687874797],[-0.4486317964916198,-1.0356738744984029]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.1712481784022798,1.774978790185774,0.71338606911949],"aabb_xy":[[0.16083661972179603,1.7696330568498753],[0.18165973708276345,1.780324523521672]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.5383424138763968,0.6904294585130715,0.71338606911949],"aabb_xy":[[0.503342412524915,0.6700697225562505],[0.5733424152278784,0.7107891944698922]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[0.28750451608425764,1.4331111361762985,0.71338606911949],"aabb_xy":[[0.20750451907000966,1.4129765845028874],[0.3675045130985056,1.45324568784971]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.07364015954791558,-1.0477071156167157,0.71338606911949],"aabb_xy":[[-0.08557289390974365,-1.060089268424575],[-0.06170742518608752,-1.0353249628088563]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.10151078360896049,0.3352245407337935,0.71338606911949],"aabb_xy":[[-0.16651078471490377,0.3102591676656652],[-0.0365107825030172,0.3601899138019218]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.4128783522051733,-1.3399210830413963,0.71338606911949],"aabb_xy":[[0.3753783514131778,-1.3462889239995863],[0.4503783529971687,-1.333553242083206]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.09069685685544193,0.6135895462952434,0.71338606911949],"aabb_xy":[[0.07807006956824558,0.6040434725936704],[0.10332364414263828,0.6231356199968162]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[0.0554669784624241,-2.136489014901919,0.71338606911949],"aabb_xy":[[-0.024526845116134108,-2.2164890174947605],[0.13546080204098232,-2.0564890123090773]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.33710897402319273,-2.4056651077421245,0.71338606911949],"aabb_xy":[[-0.3870822680264531,-2.4556651082966714],[-0.2871356800199322,-2.3556651071875767]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[0.4963268228624942,-0.6487346711718358,0.71338606911949],"aabb_xy":[[0.47922474490412603,-0.6658414767031056],[0.5134289008208623,-0.631627865640566]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_22","position":[0.04934578039087001,-1.2824929729616783,0.71338606911949],"aabb_xy":[[-0.0006490525370715927,-1.3324929718569218],[0.09934061331881161,-1.2324929740664348]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_23","position":[0.18442888833539894,0.7603508474667735,0.71338606911949],"aabb_xy":[[0.11942888830109621,0.7136501707864462],[0.24942888836970167,0.8070515241471008]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[-0.6029157534336543,-0.0003229923628955689,0.71338606911949],"aabb_xy":[[-0.6729157550359339,-0.013755785564553147],[-0.532915751831375,0.013109800838762009]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[-0.03294925862334863,-0.7693292785345882,0.71338606911949],"aabb_xy":[[-0.11294925578292392,-0.7808768794924053],[0.047050738536226655,-0.7577816775767712]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[-0.24810669616168968,-0.5202637799379817,0.71338606911949],"aabb_xy":[[-0.30573716504896054,-0.580263778864692],[-0.1904762272744188,-0.46026378101127086]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_27","position":[0.012454418653336963,-2.4173171464922283,0.71338606911949],"aabb_xy":[[-0.07754557808227325,-2.4705006098095224],[0.10245441538894717,-2.3641336831749333]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_28","position":[0.5539651963572025,-2.183197420221769,0.71338606911949],"aabb_xy":[[0.5039863878468867,-2.233197420227488],[0.6039440048675184,-2.1331974202160504]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6713260113348133,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6649.png","name":"6649"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6649.png","name":"6649"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/817.png","name":"817"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9035.png","name":"9035"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8239.png","name":"8239"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/818.png","name":"818"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":770.9268494793257,"rotation_z_degrees":204.40931472207978,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0033767117301297667,-0.007353005087891886,0.010731234060286716]},{"name":"camera_2","offset_m":[0.005403475215388802,0.008580017881633803,-0.008108747986621414]},{"name":"camera_3","offset_m":[-0.003847982439812457,-0.0037953838588962625,-0.014891921353684383]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017951685329350075,0.0007744170381973887,-4.0489133074361316e-05],"end_effector_yaw_offset_degrees":0.9312242547174978},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.522719409911892e-05,0.0003073515820161605,0.001493703048527795],"end_effector_yaw_offset_degrees":-0.44982465436245156},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016126890592590985,0.00048821750546007656,0.00028265399523114045],"end_effector_yaw_offset_degrees":-0.9372028818406544}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0023861122917994597,0.0018694864231675401],"position_m":[0.31458611229179945,0.00976948642316754,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004632413241427329,-0.004708951699953571],"position_m":[0.27076758675857265,-0.31310895169995356,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009503551690343446,-0.0018849980885277907],"position_m":[0.16705035516903435,0.3026150019114722,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004535579802879151,-0.0030536373344330903],"position_m":[0.3394644201971208,0.1592463626655669,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"90d1a12a9529891f2a88bf8ef81570d777c4fba2913f5b2948b7c6fdc11d3bc8","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6649/tex_ceiling_textures_818/tex_floor_textures_8239/tex_table_textures_817/tex_wall_textures_9035","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":3743434214210706495,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":3743434214210706495,"visual_seed":3743434214210706495,"scene_id":"lab_003","finished_at":"2026-09-04T18:00:00"} +{"episode_id":"ep_000094","started_at":"2026-09-04T18:00:03","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[0.07464981537258386,-2.37271090602264,0.71338606911949],"aabb_xy":[[0.06643527025689987,-2.3813874963202806],[0.08286436048826783,-2.364034315724998]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.03827937903425682,1.3255319252646567,0.71338606911949],"aabb_xy":[[-0.07327937734495227,1.317816910341111],[-0.003279380723561383,1.3332469401882023]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.5473685883825747,-0.0921359433788913,0.71338606911949],"aabb_xy":[[-0.5686465965260469,-0.15713594570496436],[-0.5260905802391024,-0.027135941052818233]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.32004945123667006,-1.30699115411699,0.71338606911949],"aabb_xy":[[0.312346260562593,-1.314700524815728],[0.3277526419107471,-1.2992817834182522]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[0.451862331770968,-0.8524703170032166,0.71338606911949],"aabb_xy":[[0.437218926216935,-0.8671290366600007],[0.46650573732500095,-0.8378115973464323]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.18017255128898768,0.5948713009080349,0.71338606911949],"aabb_xy":[[-0.23529775691857843,0.5348712994667476],[-0.12504734565939687,0.6548713023493219]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[-0.48161614161670085,-1.0690254829599652,0.71338606911949],"aabb_xy":[[-0.5466161401737737,-1.0987780163738479],[-0.4166161430596281,-1.0392729495460826]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[0.2533937328185383,-1.7514760939560063,0.71338606911949],"aabb_xy":[[0.24535739811725343,-1.759514213260423],[0.2614300675198231,-1.7434379746515893]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[0.3791065004744203,-1.0016522098119647,0.71338606911949],"aabb_xy":[[0.3151064971847121,-1.0449871288158823],[0.44310650376412836,-0.9583172908080472]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.12154355788839877,1.4935529425713718,0.71338606911949],"aabb_xy":[[-0.12953754646610216,1.4855528624762813],[-0.11354956931069536,1.501553022666462]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[0.17867655760015733,0.6125725567222307,0.71338606911949],"aabb_xy":[[0.09867655433614417,0.5990125244133173],[0.25867656086417046,0.626132589031144]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[-0.275136470442542,-0.35349768998501263,0.71338606911949],"aabb_xy":[[-0.28570395010064104,-0.3640427200980212],[-0.264568990784443,-0.3429526598720041]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.467966962095264,-0.5381920049616453,0.71338606911949],"aabb_xy":[[-0.5047615952201703,-0.5750978800582276],[-0.4311723289703577,-0.501286129865063]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.582627457614513,0.5539746566554586,0.71338606911949],"aabb_xy":[[0.5176274575802102,0.5072739799751312],[0.6476274576488157,0.6006753333357858]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.19691669414696888,1.2480116502198078,0.71338606911949],"aabb_xy":[[0.18892320435168689,1.2400135182793324],[0.20491018394225094,1.2560097821602836]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.4882354271953293,-0.7050266882668537,0.71338606911949],"aabb_xy":[[0.4332354275735835,-0.7600103810543264],[0.5432354268170752,-0.6500429954793809]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[-0.2781863128071205,1.1953497204655035,0.71338606911949],"aabb_xy":[[-0.2842809406952388,1.1867803259138348],[-0.27209168491900215,1.2039191150171722]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[0.5835074361622015,1.2162536484695208,0.71338606911949],"aabb_xy":[[0.5599223126983066,1.1512536462240892],[0.6070925596260963,1.2812536507149528]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[0.4581941690710083,-1.6196507239623463,0.71338606911949],"aabb_xy":[[0.37819416690824575,-1.6996059075884897],[0.5381941712337708,-1.5396955403362025]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.02911127697466631,1.2204334330943611,0.71338606911949],"aabb_xy":[[0.010226893206156103,1.2015475083140084],[0.047995660743176516,1.239319357874714]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[0.5157213719672189,-1.9713750138518398,0.71338606911949],"aabb_xy":[[0.4744168289034829,-2.035375013419957],[0.5570259150309549,-1.907375014283723]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[0.3669967924162745,-2.2903858140227626,0.71338606911949],"aabb_xy":[[0.3191906248025058,-2.3553858167298216],[0.4148029600300431,-2.2253858113157037]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[-0.4229249974853915,-0.30432419485085793,0.71338606911949],"aabb_xy":[[-0.46820361236654073,-0.3683241941990416],[-0.3776463826042422,-0.24032419550267425]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[-0.04835547495104231,-2.366717901662985,0.71338606911949],"aabb_xy":[[-0.06746778230902117,-2.385852680540227],[-0.029243167593063446,-2.347583122785743]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_24","position":[0.6841935978468308,0.21672067297009256,0.71338606911949],"aabb_xy":[[0.6800776477347581,0.21260511793724704],[0.6883095479589034,0.22083622800293803]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[-0.2290555837960369,0.11825683998629932,0.71338606911949],"aabb_xy":[[-0.2940555819519559,0.09196059543638714],[-0.16405558564011782,0.14455308453621152]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_26","position":[0.66716948911989,-1.8324959298020627,0.71338606911949],"aabb_xy":[[0.6221694876536612,-1.8774957866635433],[0.7121694905861189,-1.787496072940582]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[-0.28170464611919027,1.3471132568229258,0.71338606911949],"aabb_xy":[[-0.32295345714910495,1.2921132573107081],[-0.2404558350892755,1.402113256335143]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_28","position":[0.41987917313695067,1.2136257573409113,0.71338606911949],"aabb_xy":[[0.3823791747135503,1.2004615433730803],[0.457379171560351,1.2267899713087418]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[0.17585406716035734,-1.8231642289641898,0.71338606911949],"aabb_xy":[[0.1649482910727946,-1.9031642253630188],[0.18675984324792003,-1.7431642325653605]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6761606746224647,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6899.png","name":"6899"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6899.png","name":"6899"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2.png","name":"2"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8390.png","name":"8390"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/715.png","name":"715"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1195.png","name":"1195"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":591.9744027054354,"rotation_z_degrees":97.85826521587143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015059534790626494,-0.004410077919865833,0.0005787801441522432]},{"name":"camera_2","offset_m":[-0.015314834865346657,-0.014608875724371223,0.01886596270932021]},{"name":"camera_3","offset_m":[-0.015340572364165191,0.015488558617637604,-0.002978242422379363]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00030775361583966834,0.0015484106069147993,-0.0014647881066868935],"end_effector_yaw_offset_degrees":0.5927709205889262},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008704583641430137,0.0012496041623666267,0.0014397004655168693],"end_effector_yaw_offset_degrees":0.2478257973552962},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010074648489472164,-0.0004269487926075292,0.0009063247023349424],"end_effector_yaw_offset_degrees":-0.9510792798321914}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018265371184771994,-0.0028162964980541663],"position_m":[0.3103734628815228,0.005083703501945834,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019468925889456036,-0.0025575550751403844],"position_m":[0.27734689258894557,-0.3109575550751404,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005869585272125395,0.004147622447889685],"position_m":[0.16668695852721255,0.3086476224478897,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003451912484479806,-0.0009038842918086664],"position_m":[0.3405480875155202,0.16139611570819135,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"971da026346b8771e1f6d6decfe48fffd3e118ac995a6ac70e21e522043a6109","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6899/tex_ceiling_textures_1195/tex_floor_textures_715/tex_table_textures_2/tex_wall_textures_8390","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":1187528770829455499,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":1187528770829455499,"visual_seed":1187528770829455499,"scene_id":"lab_003","finished_at":"2026-09-04T18:02:43"} +{"episode_id":"ep_000095","started_at":"2026-09-04T18:02:49","dimensions":{"distractor":{"count":26,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.2101498556391006,1.3089978007065306,0.71338606911949],"aabb_xy":[[0.12014985330508154,1.231515446121418],[0.30014985797311966,1.3864801552916433]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.27822180247654504,-0.3734869427076002,0.71338606911949],"aabb_xy":[[-0.3422218031800144,-0.41950532518052125],[-0.2142218017730757,-0.3274685602346792]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[-0.5035923363995228,0.2826921193028,0.71338606911949],"aabb_xy":[[-0.51875520937646,0.2675266620076813],[-0.48842946342258586,0.29785757659791884]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.4503672945859802,0.6074710324935113,0.71338606911949],"aabb_xy":[[-0.5153672972237737,0.5559914337940643],[-0.3853672919481867,0.6589506311929583]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[0.24126143583006188,-0.8989191518527035,0.71338606911949],"aabb_xy":[[0.18724583954816185,-0.9629191547449606],[0.2952770321119619,-0.8349191489604463]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[-0.30578717930726285,-1.4014193162300492,0.71338606911949],"aabb_xy":[[-0.36076090134359573,-1.4564193157942824],[-0.25081345727092996,-1.346419316665816]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[0.21739605316055188,-1.3717542966604441,0.71338606911949],"aabb_xy":[[0.18362049396985888,-1.385792791873609],[0.25117161235124486,-1.3577158014472788]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[0.4893412686844565,-2.1105311773829856,0.71338606911949],"aabb_xy":[[0.4668448472505924,-2.133031177189733],[0.5118376901183206,-2.088031177576238]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_8","position":[0.2711779874065694,-0.7019893859462873,0.71338606911949],"aabb_xy":[[0.1811779909056976,-0.7479010283647455],[0.3611779839074411,-0.656077743527829]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[-0.5079022428904663,1.6749528564955551,0.71338606911949],"aabb_xy":[[-0.5491510539203809,1.6199528569833375],[-0.46665343186055147,1.7299528560077724]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.23916011654698055,-1.0695171656821028,0.71338606911949],"aabb_xy":[[-0.3031601182249779,-1.118034557161417],[-0.1751601148689832,-1.0209997742027885]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.4264436582478517,-0.47396472047590477,0.71338606911949],"aabb_xy":[[-0.5064436615118648,-0.4875247527848181],[-0.34644365498383856,-0.4604046881669914]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.13941278360503728,0.7966975682175876,0.71338606911949],"aabb_xy":[[0.12154367585058182,0.7828646602403767],[0.1572818913594928,0.8105304761947986]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.3163320999891279,0.6178837430577158,0.71338606911949],"aabb_xy":[[0.3038647418793923,0.6054184184243924],[0.3287994580988636,0.6303490676910394]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[-0.05467327993363624,-2.3943234256765606,0.71338606911949],"aabb_xy":[[-0.13467327709321153,-2.4058710266343772],[0.025326717225939058,-2.382775824718743]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.583804766316699,0.9453914505737329,0.71338606911949],"aabb_xy":[[-0.6197182707416886,0.9094779423569781],[-0.5478912618917093,0.9813049587904874]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[-0.3986339922724657,-0.5611178313685494,0.71338606911949],"aabb_xy":[[-0.41531112826556116,-0.5778177553424797],[-0.38195685627937015,-0.5444179073946191]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[-0.6411857922098279,-0.7951617889239,0.71338606911949],"aabb_xy":[[-0.6587324871259467,-0.8326617904881514],[-0.6236390972937088,-0.7576617873596488]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[-0.659185005563117,0.8028461156832489,0.71338606911949],"aabb_xy":[[-0.6683448845069936,0.7963148976397117],[-0.6500251266192404,0.8093773337267859]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[-0.6349021097948647,-1.5584355675460357,0.71338606911949],"aabb_xy":[[-0.6386053711240035,-1.5621375858547533],[-0.6311988484657257,-1.5547335492373178]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.20210587682584708,1.1839757389294308,0.71338606911949],"aabb_xy":[[-0.2521007097537887,1.1339757400341872],[-0.15211104389790547,1.2339757378246743]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[0.006304248844938298,-1.5239365749312488,0.71338606911949],"aabb_xy":[[-0.08369575057343259,-1.557312071775438],[0.09630424826330919,-1.4905610780870586]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.33546256674923147,-1.689417153696556,0.71338606911949],"aabb_xy":[[0.32668133960199536,-1.6981969009850866],[0.3442437938964678,-1.680637406408026]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[0.4779262982098389,-0.2332169753726685,0.71338606911949],"aabb_xy":[[0.4229262985880931,-0.2882006681601412],[0.5329262978315847,-0.17823328258519575]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.09503745534368202,0.34585326245575887,0.71338606911949],"aabb_xy":[[-0.1047934448528559,0.3360907283965244],[-0.08528146583450812,0.35561579651499325]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[0.0666087047302365,-1.264942872999683,0.71338606911949],"aabb_xy":[[0.04410870491633412,-1.269417489370164],[0.08910870454413888,-1.2604682566292025]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6744656423112,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6503.png","name":"6503"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6503.png","name":"6503"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6047.png","name":"6047"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4028.png","name":"4028"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4469.png","name":"4469"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3029.png","name":"3029"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":650.7713031107257,"rotation_z_degrees":284.55197524693773,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019887153577110395,0.0060052840556604065,0.004632971536905884]},{"name":"camera_2","offset_m":[0.01334202048438093,-0.012623627434006482,0.006263258002724141]},{"name":"camera_3","offset_m":[-0.00766644328644484,0.00022017917758089187,-0.0042847501666313445]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014784603298688389,0.0019266352870378192,0.0017930951477475691],"end_effector_yaw_offset_degrees":-0.11218770308619574},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004577534787365378,-4.960569763647494e-05,-0.0014769818211209508],"end_effector_yaw_offset_degrees":0.11098433060621682},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013904784919565828,0.0005145061298504928,-0.0002450865470414057],"end_effector_yaw_offset_degrees":0.4311173557086718}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005422208366062135,0.001465000333425494],"position_m":[0.3127422208366062,0.009365000333425494,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019404230670485448,0.0011328976372957178],"position_m":[0.27734042306704854,-0.30726710236270427,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008635311036188694,0.004882144646272054],"position_m":[0.16696353110361886,0.30938214464627206,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033447622540508292,0.0009466578937809998],"position_m":[0.3473447622540508,0.163246657893781,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"679f005281aa3e294301f6b209db2f24c9b5997ed3352c24cf5eb384bf30b121","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0095.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6503/tex_ceiling_textures_3029/tex_floor_textures_4469/tex_table_textures_6047/tex_wall_textures_4028","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":5907610254888328409,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":5907610254888328409,"visual_seed":5907610254888328409,"scene_id":"lab_003","finished_at":"2026-09-04T18:05:37"} +{"episode_id":"ep_000096","started_at":"2026-09-04T18:05:43","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[-0.5637022570649528,-2.382949190352556,0.71338606911949],"aabb_xy":[[-0.5716957468602349,-2.390947322293032],[-0.5557087672696709,-2.3749510584120808]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.5763983265730346,1.6388599600288027,0.71338606911949],"aabb_xy":[[0.5396036934481283,1.6019540849322202],[0.6131929596979409,1.6757658351253848]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.5592107043851491,-1.8111843113951924,0.71338606911949],"aabb_xy":[[0.4792107029550219,-1.890701466407802],[0.6392107058152763,-1.731667156382583]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[-0.33978624317007755,-0.9872205813328967,0.71338606911949],"aabb_xy":[[-0.3947794545072144,-1.0422205816716903],[-0.28479303183294086,-0.9322205809941031]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.26537435849618346,-0.13153196847951598,0.71338606911949],"aabb_xy":[[-0.2882900713812334,-0.15443626561593948],[-0.24245864561113362,-0.10862767134309248]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.4230659347345685,1.0254456376623988,0.71338606911949],"aabb_xy":[[-0.4870659320202172,0.9839389187095549],[-0.3590659374489199,1.0669523566152428]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[-0.316076772880408,1.2076096629775819,0.71338606911949],"aabb_xy":[[-0.3960767698434471,1.1305340213338084],[-0.23607677591736875,1.2846853046213553]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[-0.14006409816920207,-1.7224938623840766,0.71338606911949],"aabb_xy":[[-0.14827864328488602,-1.7311704526817175],[-0.13184955305351806,-1.7138172720864349]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[0.5983095893210824,-2.047759172305064,0.71338606911949],"aabb_xy":[[0.5283095871896527,-2.0705211379307586],[0.6683095914525118,-2.024997206679368]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.6044011800089778,-0.22414716638715326,0.71338606911949],"aabb_xy":[[-0.6684011764362997,-0.2713167902092497],[-0.5404011835816559,-0.17697754256505685]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[-0.2135099541937236,-1.9292292483656936,0.71338606911949],"aabb_xy":[[-0.22220791648443888,-1.9413542226731684],[-0.2048119919030083,-1.917104274058219]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.2722773431109635,1.6498639878925982,0.71338606911949],"aabb_xy":[[0.2244711754971948,1.584863985185539],[0.3200835107247321,1.714863990599657]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[0.372377936342253,0.7722185422378178,0.71338606911949],"aabb_xy":[[0.29237793587203714,0.7639078346234696],[0.4523779368124691,0.7805292498521663]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[0.15548385630924255,-2.142628380197319,0.71338606911949],"aabb_xy":[[0.11798385613737061,-2.1753291155802263],[0.1929838564811145,-2.109927644814412]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[-0.045697329465032466,-0.9006557059271563,0.71338606911949],"aabb_xy":[[-0.10067105150136535,-0.9556557054913895],[0.009276392571300425,-0.8456557063629231]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.14354352189646602,-0.7803569127229124,0.71338606911949],"aabb_xy":[[-0.1509559774378545,-0.7862081231445402],[-0.13613106635507755,-0.7745057023012843]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[0.2788496535499293,-2.3994257074927794,0.71338606911949],"aabb_xy":[[0.2627877260914116,-2.484425709305371],[0.2949115810084469,-2.3144257056801876]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.3566448682568218,-1.8890215068819982,0.71338606911949],"aabb_xy":[[-0.4466448719337398,-1.9504539134591021],[-0.2666448645799035,-1.8275891003048934]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[-0.5039576155375538,-0.4978171496630588,0.71338606911949],"aabb_xy":[[-0.5679576128399002,-0.5421835766309155],[-0.4399576182352074,-0.45345072269520204]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.026455924481517012,1.710751259888633,0.71338606911949],"aabb_xy":[[-0.04403422667046386,1.693176770314528],[-0.008877622292570164,1.728325749462738]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[-0.2605985200038786,0.32468631926612,0.71338606911949],"aabb_xy":[[-0.29809852066845727,0.30899926126589783],[-0.2230985193392999,0.3403733772663422]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[-0.06906973481113254,-1.270451142416996,0.71338606911949],"aabb_xy":[[-0.15406973322855577,-1.355325437879281],[0.015930263606290684,-1.185576846954711]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.6043528580499242,1.4106353655887647,0.71338606911949],"aabb_xy":[[0.5739547469507804,1.3802284635870952],[0.6347509691490676,1.4410422675904342]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[-0.553880520236113,-1.392370014511842,0.71338606911949],"aabb_xy":[[-0.6178805205100912,-1.44243611470913],[-0.4898805199621348,-1.342303914314554]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[0.28014910387759995,-1.062512485865536,0.71338606911949],"aabb_xy":[[0.19014910737672816,-1.108424128283994],[0.37014910037847165,-1.0166008434470775]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[-0.6503857755998119,-2.1049965465224147,0.71338606911949],"aabb_xy":[[-0.672850545571217,-2.127496547401275],[-0.6279210056284068,-2.082496545643554]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[0.39138138561902935,0.39116174323063335,0.71338606911949],"aabb_xy":[[0.3413971499108521,0.34116174441713776],[0.4413656213272066,0.44116174204412895]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_27","position":[-0.26461182702298613,0.8784404703621269,0.71338606911949],"aabb_xy":[[-0.29509607715001623,0.8284404705806309],[-0.23412757689595592,0.9284404701436227]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_28","position":[-0.0037681529162064686,-1.9641445906991033,0.71338606911949],"aabb_xy":[[-0.04126815302179942,-1.9709667525520842],[0.03373184718938648,-1.957322428846122]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_29","position":[0.40777656647335636,-2.269629947579705,0.71338606911949],"aabb_xy":[[0.37186306204836667,-2.30554345579646],[0.44369007089834606,-2.2337164393629503]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_30","position":[-0.5767944503310046,1.7846919070836527,0.71338606911949],"aabb_xy":[[-0.5959067576889835,1.7655571282064104],[-0.5576821429730258,1.8038266859608945]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_31","position":[0.5776932139525186,0.8814475128809356,0.71338606911949],"aabb_xy":[[0.565225855842783,0.8689821882476122],[0.5901605720622543,0.8939128375142592]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_32","position":[0.40772530021392783,-0.8648641007589637,0.71338606911949],"aabb_xy":[[0.38783426033358764,-0.8775199120436606],[0.42761634009426813,-0.852208289474267]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_33","position":[0.6166133956353208,-0.9785062385743029,0.71338606911949],"aabb_xy":[[0.5666133939738259,-1.0285046808300053],[0.6666133972968155,-0.9285077963186]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6739084769292519,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/654.png","name":"654"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/654.png","name":"654"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/43.png","name":"43"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6199.png","name":"6199"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3608.png","name":"3608"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3624.png","name":"3624"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":739.578768159558,"rotation_z_degrees":134.6201958721128,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017680257342039183,-0.016078749553742566,-0.0064478716180482905]},{"name":"camera_2","offset_m":[-0.01727024360361754,-0.007503573547064209,0.007884861733478955]},{"name":"camera_3","offset_m":[-0.001979492652748379,0.014958920568461712,-0.010254560639144783]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012279055628285976,0.0010584522816895654,8.685860205726037e-05],"end_effector_yaw_offset_degrees":-0.9608676141830959},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001210210213220314,-0.0016142919204050147,-0.001302981094783116],"end_effector_yaw_offset_degrees":0.884491099739033},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011222376988209303,0.0010225931890251272,-0.0006654695466450785],"end_effector_yaw_offset_degrees":-0.43019859726916376}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019114738038586952,-0.0001680912098576447],"position_m":[0.3102885261961413,0.007731908790142356,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006123585672240554,-0.0025994130623863067],"position_m":[0.2747876414327759,-0.3109994130623863,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006094352871255492,0.0005937277908848425],"position_m":[0.16549056471287446,0.30509372779088484,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-9.120839279222383e-05,0.00220883910598313],"position_m":[0.3439087916072078,0.16450883910598313,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2f05bfa1533e0e9320e3c29cb3e85324f3dbf0a20315cfe3240a4c53e8f78d7a","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_654/tex_ceiling_textures_3624/tex_floor_textures_3608/tex_table_textures_43/tex_wall_textures_6199","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":6789197599881920215,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":6789197599881920215,"visual_seed":6789197599881920215,"scene_id":"lab_003","finished_at":"2026-09-04T18:08:24"} +{"episode_id":"ep_000097","started_at":"2026-09-04T18:08:26","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[0.6584501182044271,0.39297324335942685,0.71338606911949],"aabb_xy":[[0.6234501182279313,0.3835086273118103],[0.693450118180923,0.4024378594070435]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.23253605545965844,-0.30519396379039243,0.71338606911949],"aabb_xy":[[-0.2404593356984068,-0.3276939640283958],[-0.22461277522091014,-0.28269396355238907]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.4029344785646594,-1.785238931018661,0.71338606911949],"aabb_xy":[[-0.4929344822415775,-1.846671337595765],[-0.3129344748877412,-1.7238065244415564]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.348322741547584,1.041707924687504,0.71338606911949],"aabb_xy":[[0.30333015482913356,0.9967079254130553],[0.3933153282660344,1.0867079239619528]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.38762782048199407,-2.495332521203978,0.71338606911949],"aabb_xy":[[-0.43371291173672555,-2.5593325184565328],[-0.3415427292272626,-2.4313325239514225]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.1778856474164603,-2.294619294844603,0.71338606911949],"aabb_xy":[[0.1678039403378868,-2.374619292736717],[0.18796735449503374,-2.214619296952488]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.6430124331856975,0.6320688760158917,0.71338606911949],"aabb_xy":[[0.5931956537208626,0.5820688775315883],[0.6928292126505321,0.682068874500195]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[0.05018943886605842,-1.6721459742287814,0.71338606911949],"aabb_xy":[[0.04214607894010325,-1.7571459753241476],[0.058232798792013596,-1.5871459731334148]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[0.2998308993310952,-2.073375585496681,0.71338606911949],"aabb_xy":[[0.2822525971421484,-2.090950075070786],[0.3174092015200421,-2.055801095922576]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.4031815980729885,0.29669214272495736,0.71338606911949],"aabb_xy":[[-0.42535412504963926,0.27451647556883413],[-0.3810090710963376,0.3188678098810805]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.4582327132512387,1.730872268174552,0.71338606911949],"aabb_xy":[[-0.495732711674639,1.7177080542067211],[-0.4207327148278383,1.7440364821423826]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[0.5792049486855255,-0.15751349355182898,0.71338606911949],"aabb_xy":[[0.5418736721602829,-0.19216654834668126],[0.6165362252107681,-0.12286043875697664]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[-0.5507101795261765,0.472653082957458,0.71338606911949],"aabb_xy":[[-0.5872060001534553,0.43616914053070044],[-0.5142143588988978,0.5091370253842156]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.5511400453467356,-0.6924905709912141,0.71338606911949],"aabb_xy":[[-0.5593545904624193,-0.7011671612888553],[-0.5429255002310514,-0.6838139806935726]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.16695591233982543,1.7625973775674457,0.71338606911949],"aabb_xy":[[-0.17942327044956108,1.7501320529341222],[-0.15448855423008978,1.7750627022007692]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[-0.10272211184643798,-0.8057663854975003,0.71338606911949],"aabb_xy":[[-0.18272211400920046,-0.8857215691236439],[-0.02272210968367548,-0.7258112018713566]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.3268223591914483,-0.9905584625434483,0.71338606911949],"aabb_xy":[[0.3219230668848848,-1.0182353818460168],[0.3317216514980118,-0.9628815432408794]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.563226677065731,-0.5069980654384261,0.71338606911949],"aabb_xy":[[0.5382266777937686,-0.5233434290345884],[0.5882266763376932,-0.4906527018422638]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.5517504174399264,-1.9906654566722612,0.71338606911949],"aabb_xy":[[0.5167504191698065,-1.997739584367249],[0.5867504157100463,-1.9835913289772726]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[-0.4856948626160418,-1.5503390022928918,0.71338606911949],"aabb_xy":[[-0.5656948596302898,-1.570473553966303],[-0.40569486560179385,-1.5302044506194805]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.4072115731997843,-1.7230509704995498,0.71338606911949],"aabb_xy":[[0.3869272704763855,-1.7433335956422584],[0.427495875923183,-1.7027683453568407]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[-0.3022006657255085,0.8056669656420019,0.71338606911949],"aabb_xy":[[-0.32548250792363986,0.720666964344774],[-0.2789188235273772,0.8906669669392301]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6777215709085181,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2968.png","name":"2968"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2968.png","name":"2968"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4427.png","name":"4427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5965.png","name":"5965"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4930.png","name":"4930"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9314.png","name":"9314"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":533.1151646305759,"rotation_z_degrees":129.36002001980216,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-6.547908897812718e-05,-0.0036132493501819275,-0.002023591551555199]},{"name":"camera_2","offset_m":[0.015157635081523273,-0.006651862943344411,0.0060189651131374484]},{"name":"camera_3","offset_m":[0.018729614573957377,0.009102801600350895,0.01263032353392211]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014186171940158937,0.00012144389533629658,0.0008225571755948904],"end_effector_yaw_offset_degrees":-0.3714552206820301},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007197298126642667,-0.001992813200423166,0.0014847785723377136],"end_effector_yaw_offset_degrees":-0.5843967879552596},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016776448558249695,0.00012647846877285188,0.0009578506937451634],"end_effector_yaw_offset_degrees":0.8439447570725249}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037292353227017403,0.0005930396920572276],"position_m":[0.31592923532270173,0.008493039692057228,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004765301145857476,-0.0004940767323549046],"position_m":[0.28016530114585747,-0.3088940767323549,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003437507992550182,-0.0027277547197964215],"position_m":[0.1626624920074498,0.3017722452802036,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038186699999247812,0.0014091877824901214],"position_m":[0.3478186699999248,0.16370918778249013,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"39de1ff0e865deae59a61d7b0b6754e6b6c8b7dcb0b362fb4a31c252a6f7313f","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0097.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2968/tex_ceiling_textures_9314/tex_floor_textures_4930/tex_table_textures_4427/tex_wall_textures_5965","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":198636823536913446,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":198636823536913446,"visual_seed":198636823536913446,"scene_id":"lab_003","finished_at":"2026-09-04T18:11:36"} +{"episode_id":"ep_000098","started_at":"2026-09-04T18:11:41","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[-0.3945509969383192,-0.9572030270379754,0.71338606911949],"aabb_xy":[[-0.4097231662199526,-0.9723718839661789],[-0.3793788276566859,-0.9420341701097722]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.4417560794596844,1.3923972874745605,0.71338606911949],"aabb_xy":[[-0.5217560764227236,1.3153216458307868],[-0.36175608249664526,1.4694729291183337]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[0.4087367694427477,-0.6186307151986699,0.71338606911949],"aabb_xy":[[0.3674879584128329,-0.6736307147108871],[0.44998558047266235,-0.5636307156864522]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[-0.17363796462063574,0.2234843476383963,0.71338606911949],"aabb_xy":[[-0.2376379632072082,0.1764773842388876],[-0.10963796603406328,0.270491311037905]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[-0.0915591522765078,-1.9630359894079101,0.71338606911949],"aabb_xy":[[-0.10197071095699149,-1.9683817227438083],[-0.08114759359602407,-1.9576902560720115]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[0.19527490668704972,0.6828947262054839,0.71338606911949],"aabb_xy":[[0.130274906652747,0.6361940495251566],[0.26027490672135245,0.7295954028858112]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[-0.2880262190745044,-0.4493666849171829,0.71338606911949],"aabb_xy":[[-0.3026696246285374,-0.4640254045739671],[-0.27338281352047145,-0.43470796526039857]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.5880039084910287,0.251034988117401,0.71338606911949],"aabb_xy":[[0.5505039078264499,0.23534793011717872],[0.6255039091556073,0.26672204611762307]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[0.6406992837282952,-1.244655337190447,0.71338606911949],"aabb_xy":[[0.5767035863331985,-1.3086553354911554],[0.7046949811233917,-1.180655338889738]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.5104097592163228,-1.0728854354142716,0.71338606911949],"aabb_xy":[[0.45040975862030663,-1.1276979079594953],[0.570409759812339,-1.0180729628690484]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[-0.47964165961604915,-0.8311814087880258,0.71338606911949],"aabb_xy":[[-0.48375760972812165,-0.8352969638208714],[-0.4755257095039763,-0.8270658537551803]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.20386571346453553,-1.015925060596079,0.71338606911949],"aabb_xy":[[-0.2413657146493283,-1.020343283292139],[-0.1663657122797427,-1.011506837900018]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[0.5255106477985225,0.8186399160386162,0.71338606911949],"aabb_xy":[[0.44178842229843995,0.7286399125039201],[0.6092328732986049,0.908639919573312]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[0.6608735273036397,0.12132812221568612,0.71338606911949],"aabb_xy":[[0.596873525895649,0.06953917069176141],[0.7248735287116304,0.17311707373961083]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[0.5953380436626281,1.5478779246920635,0.71338606911949],"aabb_xy":[[0.5835698568679707,1.462877924786842],[0.6071062304572857,1.6328779245972853]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.29361526682317374,-2.245232680767239,0.71338606911949],"aabb_xy":[[0.22961526752900557,-2.3092188211360933],[0.357615266117342,-2.181246540398385]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[-0.5854624259789021,-2.335947411504297,0.71338606911949],"aabb_xy":[[-0.5895982823116024,-2.3734474109486543],[-0.581326569646202,-2.2984474120599403]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[-0.4183253267970138,1.0465816310699907,0.71338606911949],"aabb_xy":[[-0.43092802593409024,1.0339862348451254],[-0.40572262765993733,1.0591770272948564]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.4130385652642712,-0.14411632440939348,0.71338606911949],"aabb_xy":[[0.40959788902421407,-0.14797775738375799],[0.4164792415043284,-0.14025489143502903]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.5866761992986187,1.2384778865486101,0.71338606911949],"aabb_xy":[[0.5216762007415459,1.2087253531347273],[0.6516761978556915,1.2682304199624925]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.6389046396314004,1.7551595430535794,0.71338606911949],"aabb_xy":[[0.6264372815216649,1.7426942184202563],[0.6513719977411362,1.7676248676869033]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[-0.041120993160911445,1.4337833446863208,0.71338606911949],"aabb_xy":[[-0.08611357987936186,1.3887833454118719],[0.003871593557538966,1.4787833439607694]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[0.7121936136495468,-0.7407676366436882,0.71338606911949],"aabb_xy":[[0.7020405980953973,-0.7768371782164283],[0.7223466292036961,-0.7046980950709477]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.3927084677893229,0.4034155952354066,0.71338606911949],"aabb_xy":[[-0.40140643008003823,0.3912906209279319],[-0.38401050549860766,0.4155405695428813]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[-0.256645239365784,0.44479945318728076,0.71338606911949],"aabb_xy":[[-0.32164523752170304,0.41850320863736856],[-0.19164524120986492,0.47109569773719295]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671088911360911,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1985.png","name":"1985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1985.png","name":"1985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9645.png","name":"9645"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5004.png","name":"5004"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6697.png","name":"6697"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4755.png","name":"4755"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":840.2579616422538,"rotation_z_degrees":99.58176227877368,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00480025639067116,-0.003727302350123401,0.01323058668077801]},{"name":"camera_2","offset_m":[0.0022091548790924564,-0.019028944890966976,0.01884671425693558]},{"name":"camera_3","offset_m":[-0.01140106585789341,0.0003442308158491565,-0.0130137304235328]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018914680854613395,0.00028742701024533435,0.0013388043472461635],"end_effector_yaw_offset_degrees":-0.3560325565409379},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014778508430490578,-0.0002688235383309335,-0.001405303198180833],"end_effector_yaw_offset_degrees":-0.6497174692540328},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017184323755322652,0.00041966288068555563,0.0009945709334695917],"end_effector_yaw_offset_degrees":-0.987930520020764}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003351278831869083,0.0012265988797017192],"position_m":[0.3118648721168131,0.00912659887970172,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004587588168764931,0.004525387776577557],"position_m":[0.27081241183123506,-0.30387461222342244,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0041912181406745875,0.0005814127716431521],"position_m":[0.17029121814067458,0.30508141277164313,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007404105869377167,-0.002369428277253933],"position_m":[0.3432595894130623,0.15993057172274608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d1a87071b33074429650da87bfeab2645bf5798b2fa537d248a34da327fe800c","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1985/tex_ceiling_textures_4755/tex_floor_textures_6697/tex_table_textures_9645/tex_wall_textures_5004","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":7641264932452341064,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":7641264932452341064,"visual_seed":7641264932452341064,"scene_id":"lab_003","finished_at":"2026-09-04T18:14:19"} +{"episode_id":"ep_000099","started_at":"2026-09-04T18:14:23","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.16856590849512987,-1.2019907359660504,0.71338606911949],"aabb_xy":[[0.10356591033921084,-1.2282869805159626],[0.23356590665104895,-1.1756944914161382]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[0.06697242349608934,-2.4564630686443905,0.71338606911949],"aabb_xy":[[0.05721643398691545,-2.466225602703625],[0.07672841300526323,-2.446700534585156]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[0.6497641655816084,-0.18617979263922813,0.71338606911949],"aabb_xy":[[0.5847641645811078,-0.23696615779390306],[0.7147641665821088,-0.13539342748455319]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.6523135492136187,-1.9736855990372375,0.71338606911949],"aabb_xy":[[0.6435995801636841,-1.9961855996964253],[0.6610275182635531,-1.9511855983780488]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[0.3989501338353689,-1.6196392953239602,0.71338606911949],"aabb_xy":[[0.37983782647739,-1.6387740742012022],[0.41806244119334773,-1.6005045164467182]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[0.3711505695631703,1.4272367167007283,0.71338606911949],"aabb_xy":[[0.3111505689671541,1.3724242441555048],[0.43115057015918645,1.4820491892459517]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[0.6981225910933804,0.5761107257100591,0.71338606911949],"aabb_xy":[[0.6849713451220911,0.5511107259533725],[0.7112738370646698,0.6011107254667456]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[0.25622601509859555,-0.8396855721734604,0.71338606911949],"aabb_xy":[[0.2187260166751952,-0.8528497861412909],[0.2937260135219959,-0.8265213582056297]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[0.034020101673259306,-1.5415604238665528,0.71338606911949],"aabb_xy":[[-0.015979899687627915,-1.5915383284419684],[0.08402010303414652,-1.4915825192911372]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[0.1934148733890606,-1.4289180294094337,0.71338606911949],"aabb_xy":[[0.16957865574845557,-1.5189180302179204],[0.21725109102966572,-1.3389180286009472]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[-0.02693404579762715,-1.2744974254748462,0.71338606911949],"aabb_xy":[[-0.11193404421505038,-1.3593717209371312],[0.05806595261979607,-1.1896231300125613]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[-0.07746839221461299,1.7569013118325274,0.71338606911949],"aabb_xy":[[-0.14146839389261034,1.708383920353213],[-0.013468390536615624,1.8054187033118414]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.13939591376480076,0.698266414332831,0.71338606911949],"aabb_xy":[[-0.16568473808524142,0.6719949806781796],[-0.11310708944436011,0.7245378479874821]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[-0.4077995624788634,0.16333492023538376,0.71338606911949],"aabb_xy":[[-0.414841013429611,0.15630816849758922],[-0.4007581115281158,0.1703616719731783]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[-0.2314811769895434,-0.15544988013286298,0.71338606911949],"aabb_xy":[[-0.2954811733851165,-0.21941316855159654],[-0.1674811805939703,-0.09148659171412943]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.2950353009283068,0.7028705454638375,0.71338606911949],"aabb_xy":[[-0.3300353008243257,0.6944963099518976],[-0.26003530103228795,0.7112447809757775]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.016615951075176882,-1.4250316183541496,0.71338606911949],"aabb_xy":[[-0.02541800638414959,-1.4328429445090785],[-0.007813895766204169,-1.4172202921992203]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[0.6995622086882538,-1.638726104516021,0.71338606911949],"aabb_xy":[[0.6843900394066206,-1.6538949614442244],[0.7147343779698873,-1.6235572475878177]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.47261790071363974,0.6560416913637455,0.71338606911949],"aabb_xy":[[0.4639199384229245,0.6439167170562707],[0.4813158630043551,0.6681666656712202]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.3369192751896818,1.5259178521562862,0.71338606911949],"aabb_xy":[[-0.37441927536155367,1.4932171167733788],[-0.2994192750178098,1.5586185875391931]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.07591334246576964,1.3712798636850545,0.71338606911949],"aabb_xy":[[0.06791935388806623,1.3632797835899642],[0.08390733104347302,1.3792799437801448]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[-0.07372431021598247,1.1228545987882934,0.71338606911949],"aabb_xy":[[-0.08013812385916741,1.1164447785406248],[-0.06731049657279753,1.1292644190359615]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[-0.31968534739186844,-0.7500707009029484,0.71338606911949],"aabb_xy":[[-0.35718534733563484,-0.7583637909377849],[-0.28218534744810203,-0.7417776108681118]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.08560817609540827,0.5438089250771423,0.71338606911949],"aabb_xy":[[-0.08972412620748094,0.5396933700442966],[-0.08149222598333561,0.5479244801099877]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[-0.020542301327840407,-1.6641661872914002,0.71338606911949],"aabb_xy":[[-0.10054229834208839,-1.6843007389648115],[0.059457695686407575,-1.644031635617989]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[0.27653450650097977,0.8146278865546104,0.71338606911949],"aabb_xy":[[0.1965345095379406,0.7375522449108369],[0.35653450346401894,0.8917035281983838]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.4152102710958845,-1.9509387919072172,0.71338606911949],"aabb_xy":[[-0.4792102733162915,-1.9953118760325057],[-0.35121026887547746,-1.9065657077819291]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6737209642673329,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1455.png","name":"1455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1455.png","name":"1455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1098.png","name":"1098"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3022.png","name":"3022"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3746.png","name":"3746"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7636.png","name":"7636"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":577.5053503226344,"rotation_z_degrees":318.66230227997016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00855628778701279,0.003957814312196443,0.01202575052391015]},{"name":"camera_2","offset_m":[0.0021018110521668874,-0.018032666672026805,-0.012610290620725925]},{"name":"camera_3","offset_m":[0.009576769352535267,0.01697566987413802,0.018951638090731738]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002577330217095662,0.0019342792516416542,0.0016074738800960346],"end_effector_yaw_offset_degrees":-0.6246374352453039},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019703055014253703,-0.0008723903901584813,0.00034174072932555144],"end_effector_yaw_offset_degrees":-0.8277750160251311},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009737339183117717,-9.634232247358117e-05,-0.001387594626411871],"end_effector_yaw_offset_degrees":0.24164979938669684}]}},"meta":{"task":"lab3_heat_2beaker_s03_plr_htd_00042","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002524847454943636,0.00301995865549965],"position_m":[0.3147248474549436,0.010919958655499652,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004321310108940648,-0.00017411378877364454],"position_m":[0.27583213101089404,-0.30857411378877364,0.7674890431422514],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0023953460648978866,-0.0006831622771463139],"position_m":[0.1637046539351021,0.30381683772285367,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012283003656719483,0.00245981450473301],"position_m":[0.3452283003656719,0.164759814504733,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"59beeb550487dd39ffa4d614cb576faea628115d002eec7da22c8814d1c05d43","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/dataset/episode_0099.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1455/tex_ceiling_textures_7636/tex_floor_textures_3746/tex_table_textures_1098/tex_wall_textures_3022","seeds":{"action_seed":4252118656959509958,"physical_seed":2959473296244006602,"visual_seed":9113850005629045850,"layout_id":"layout_00042","physical_randomization_enabled":true},"episode_seed":9113850005629045850,"visual_seed":9113850005629045850,"scene_id":"lab_003","finished_at":"2026-09-04T18:17:01"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d23a9a0a0a13189bbf4edaec698545e9348b539 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_htd_00042 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Press the heater button to start heating. + layout_id: layout_00042 + reproducibility: + enabled: true + layout_id: layout_00042 + action_seed: 4252118656959509958 + step_seeds: + - 3319501461492575968 + - 946050603527827413 + - 3071531141632112857 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1661 + - 0.1661 + 'y': + - 0.3045 + - 0.3045 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3122 + - 0.3122 + 'y': + - 0.0079 + - 0.0079 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.344 + - 0.344 + 'y': + - 0.1623 + - 0.1623 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2754 + - 0.2754 + 'y': + - -0.3084 + - -0.3084 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1b4c0290db9dae8e45f2d78ad5a6b415d425de5e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33635744146088703, + 0.006583268609386605, + 1.159490248077378 + ], + "current_z": 1.159490248077378, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.3029038002734572, + "gripper_z": 1.152604375747582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3312870816735276, + 0.0016180761966988616, + 1.152604375747582 + ], + "object_minus_gripper": [ + 0.005070359787359424, + 0.004965192412687744, + 0.0068858723297962054 + ], + "object_to_gripper_xy": 0.007096596653909777, + "object_to_gripper_z": 0.0068858723297962054, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33635744146088703, + -0.017590314260336852, + 1.159490248077378 + ], + "finger_b": [ + 0.3252818506105816, + 0.006583268609386605, + 1.159490248077378 + ], + "finger_midpoint": [ + 0.3308196460357343, + -0.005503522825475123, + 1.159490248077378 + ], + "object_minus_finger_midpoint": [ + 0.005537795425152703, + 0.01208679143486173, + 0.0 + ], + "finger_gap": 0.026590051174128194, + "fingertip_max_gap": 0.09166620018734259, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013295025587064097, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.159490248077378, + "object_top_z": 1.2052234269169346, + "finger_top_clearance": 0.04573317883955652, + "fingertip_min_top_clearance": 0.013719953651866956, + "object_projection_between_fingers": 0.8265016050742274, + "object_to_finger_line_xy": 0.01006905595997926, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483331000936713, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.30777244026225, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33354244470217165, + -0.3031790616397214, + 0.8470195128572781 + ], + "target_position": [ + 0.3260426455675222, + -0.3044784739387435, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007611534627323076, + "xy_threshold": 0.08, + "gripper_dist": 0.18697994534359585, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195128572781, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537447503670522, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0868646925932443, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15563423952681957, + "release_required_pad_clearance": 0.05343234629662215, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8788227729410891, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007646501064300537, + "max_z_decrease": 0.007646501064300537, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035074919641814986, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007646501064300537, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021219292664214334, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007646501064300537, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0076465129588414674, + "max_button_displacement": 0.12, + "button_start": [ + 0.18174257874488828, + -0.3607399463653564, + 0.7768088579177856 + ], + "button_final": [ + 0.18174257874488828, + -0.3607399463653564, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18279020981317576, + -0.35972605041576494, + 0.8051892474640544 + ], + "closest_button": [ + 0.1817306280136108, + -0.3607440292835235, + 0.7701451182365417 + ], + "closest_ee_minus_button": [ + 0.001059581799564946, + 0.0010179788677585622, + 0.035044129227512655 + ], + "button_min_z_position": [ + 0.18172973394393918, + -0.3607440590858459, + 0.7691623568534851 + ], + "min_active_finger_to_button": 0.14460121608828327, + "closest_active_finger": [ + 0.056760162115097046, + -0.42464616894721985, + 0.8107551336288452 + ], + "closest_active_finger_button": [ + 0.181746557354927, + -0.360742300748825, + 0.7760534286499023 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12498639523982996, + -0.06390386819839483, + 0.03470170497894287 + ], + "min_contact_pad_to_button": 0.021219292664214334, + "closest_contact_pad": [ + 0.18172973394393918, + -0.36076210939933656, + 0.7903816418403965 + ], + "closest_contact_pad_button": [ + 0.18172973394393918, + -0.3607440590858459, + 0.7691623568534851 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -1.8050313490669545e-05, + 0.02121928498691139 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "904c0a6f6066abc83f146d6afc487fdc56012174437f4d69f490e5be12e64e46", + "visual_seed": 6874093947417107153, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..447a024c20d523a739b428cf9a06c1faf0171ec6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_10_success.json @@ -0,0 +1,700 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.341194864722337, + -0.0012923931845833236, + 1.158268933647532 + ], + "current_z": 1.158268933647532, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30168242623896646, + "gripper_z": 1.1514170830134427, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33606574542541745, + -0.006218213133140832, + 1.1514170830134427 + ], + "object_minus_gripper": [ + 0.00512911929691956, + 0.004925819948557508, + 0.006851850634089329 + ], + "object_to_gripper_xy": 0.007111368850484391, + "object_to_gripper_z": 0.006851850634089329, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.341194864722337, + -0.025536702050516485, + 1.158268933647532 + ], + "finger_b": [ + 0.33021348935149186, + -0.0012923931845833236, + 1.158268933647532 + ], + "finger_midpoint": [ + 0.33570417703691446, + -0.013414547617549904, + 1.158268933647532 + ], + "object_minus_finger_midpoint": [ + 0.005490687685422546, + 0.01212215443296658, + 0.0 + ], + "finger_gap": 0.02661535491820783, + "fingertip_max_gap": 0.09143817863255363, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013307677459103903, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158268933647532, + "object_top_z": 1.2040546527641054, + "finger_top_clearance": 0.045785719116573365, + "fingertip_min_top_clearance": 0.01373571573497201, + "object_projection_between_fingers": 0.8297649626596615, + "object_to_finger_line_xy": 0.010003092466048105, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821908931627682, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.176221986444307, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33985401988094477, + -0.30695491102861505, + 0.8470194690810506 + ], + "target_position": [ + 0.33304955446782547, + -0.3079014233663333, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006869980725139602, + "xy_threshold": 0.08, + "gripper_dist": 0.1853416842213191, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194690810506, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516309458565862, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08602879964142117, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15441276504009532, + "release_required_pad_clearance": 0.05301439982071059, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0608980791491802, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007750570774078369, + "max_z_decrease": 0.007750570774078369, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504682037124696, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007750570774078369, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021421303450321744, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007750570774078369, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007750596635957745, + "max_button_displacement": 0.12, + "button_start": [ + 0.1887494772672653, + -0.36416289210319513, + 0.7768088579177856 + ], + "button_final": [ + 0.1887494772672653, + -0.36416289210319513, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18765150929402297, + -0.36571746622220164, + 0.8084176909886868 + ], + "closest_button": [ + 0.18875923752784723, + -0.3641695380210876, + 0.7734225988388062 + ], + "closest_ee_minus_button": [ + -0.0011077282338242678, + -0.001547928201114046, + 0.03499509214988061 + ], + "button_min_z_position": [ + 0.18872967362403864, + -0.3641658425331115, + 0.7690582871437073 + ], + "min_active_finger_to_button": 0.14730446437131897, + "closest_active_finger": [ + 0.04623516649007797, + -0.3514856696128845, + 0.8078979253768921 + ], + "closest_active_finger_button": [ + 0.18876074254512784, + -0.3641705513000488, + 0.772909939289093 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14252557605504987, + 0.012684881687164251, + 0.03498798608779907 + ], + "min_contact_pad_to_button": 0.021421303450321744, + "closest_contact_pad": [ + 0.18872967362403864, + -0.3669315781233687, + 0.7903002961860637 + ], + "closest_contact_pad_button": [ + 0.18872967362403864, + -0.3641658425331115, + 0.7690582871437073 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002765735590257168, + 0.021242009042356402 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "153f04314054d992779cd8a60ac28885e2c04a6fdc505e0734ca267db101a7ea", + "visual_seed": 6222732839177087437, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4d8b292887b049cae5a872f18a9954cd242f906e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_11_success.json @@ -0,0 +1,700 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34093003278588374, + -0.0005266624703360841, + 1.15743491918659 + ], + "current_z": 1.15743491918659, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.300848530987314, + "gripper_z": 1.1505962339895865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3357476171469259, + -0.005546746848228562, + 1.1505962339895865 + ], + "object_minus_gripper": [ + 0.005182415638957827, + 0.005020084377892478, + 0.00683868519700348 + ], + "object_to_gripper_xy": 0.007215170061479824, + "object_to_gripper_z": 0.00683868519700348, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34093003278588374, + -0.024839072577740658, + 1.15743491918659 + ], + "finger_b": [ + 0.3298460198119658, + -0.0005266624703360841, + 1.15743491918659 + ], + "finger_midpoint": [ + 0.3353880262989248, + -0.01268286752403837, + 1.15743491918659 + ], + "object_minus_finger_midpoint": [ + 0.005542006486958961, + 0.012156205053702285, + 0.0 + ], + "finger_gap": 0.02671981715574807, + "fingertip_max_gap": 0.09129880448039732, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013359908577874034, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.15743491918659, + "object_top_z": 1.203275676787861, + "finger_top_clearance": 0.04584075760127093, + "fingertip_min_top_clearance": 0.013752227280381247, + "object_projection_between_fingers": 0.827921311640901, + "object_to_finger_line_xy": 0.010085363514537165, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814940224019866, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0480675588267578, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3381473647105164, + -0.305666461495848, + 0.847019650300273 + ], + "target_position": [ + 0.32947068942163316, + -0.307708513620508, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008913734960640527, + "xy_threshold": 0.08, + "gripper_dist": 0.18904083084728954, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019650300273, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557825587674791, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08693980524935173, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15730296924930456, + "release_required_pad_clearance": 0.053469902624675866, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9519702399467533, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007422149181365967, + "max_z_decrease": 0.007422149181365967, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505293089997581, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007422149181365967, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021296152010143725, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007422149181365967, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007422174631873336, + "max_button_displacement": 0.12, + "button_start": [ + 0.18517062067985535, + -0.36396998167037964, + 0.7768088579177856 + ], + "button_final": [ + 0.18517062067985535, + -0.36396998167037964, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1833446111984837, + -0.364953060830916, + 0.8076706762647865 + ], + "closest_button": [ + 0.18516212701797485, + -0.36397531628608704, + 0.772678554058075 + ], + "closest_ee_minus_button": [ + -0.0018175158194911611, + -0.0009777445448289623, + 0.03499212220671155 + ], + "button_min_z_position": [ + 0.18515190482139587, + -0.3639752268791199, + 0.7693867087364197 + ], + "min_active_finger_to_button": 0.14795707730740024, + "closest_active_finger": [ + 0.04201533645391464, + -0.35043564438819885, + 0.8079557418823242 + ], + "closest_active_finger_button": [ + 0.18518023192882538, + -0.36397701501846313, + 0.7731456756591797 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14316489547491074, + 0.013541370630264282, + 0.03481006622314453 + ], + "min_contact_pad_to_button": 0.021296152010143725, + "closest_contact_pad": [ + 0.18515190482139587, + -0.3661535184209291, + 0.7905711638013495 + ], + "closest_contact_pad_button": [ + 0.18515190482139587, + -0.3639752268791199, + 0.7693867087364197 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021782915418092075, + 0.02118445506492983 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4fcb5ddf20f173313b386db3c621f086e13a5f2722be4c2ba846ab04125e85a", + "visual_seed": 2686038527608116342, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..54a751057bf39b19365e016ada54076eb13ebabb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_12_success.json @@ -0,0 +1,700 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3457728880488944, + 0.008782158130954771, + 1.160912255285305 + ], + "current_z": 1.160912255285305, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.30432568827209494, + "gripper_z": 1.1541040580592739, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3406995967437645, + 0.0036948708625327703, + 1.1541040580592739 + ], + "object_minus_gripper": [ + 0.005073291305129901, + 0.005087287268422001, + 0.00680819722603121 + ], + "object_to_gripper_xy": 0.007184620826331424, + "object_to_gripper_z": 0.00680819722603121, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3457728880488944, + -0.015320750484057302, + 1.160912255285305 + ], + "finger_b": [ + 0.3344121240449275, + 0.008782158130954771, + 1.160912255285305 + ], + "finger_midpoint": [ + 0.34009250604691094, + -0.0032692961765512655, + 1.160912255285305 + ], + "object_minus_finger_midpoint": [ + 0.005680382001983453, + 0.012051454307506038, + 0.0 + ], + "finger_gap": 0.02664614723477774, + "fingertip_max_gap": 0.09202627454194132, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01332307361738887, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160912255285305, + "object_top_z": 1.2068138715468313, + "finger_top_clearance": 0.045901616261526224, + "fingertip_min_top_clearance": 0.013770484878457867, + "object_projection_between_fingers": 0.8182199451248274, + "object_to_finger_line_xy": 0.010276437121346434, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851313727097066, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5946674160894143, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33359435432392165, + -0.30895819494425647, + 0.8470185429343585 + ], + "target_position": [ + 0.32541512731960776, + -0.3110109610381068, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008432888178089359, + "xy_threshold": 0.08, + "gripper_dist": 0.18685978454487528, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470185429343585, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587108237765758, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08640910561519498, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1543801102871878, + "release_required_pad_clearance": 0.05320455280759749, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.426530336182601, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 157, + "max_placed_release_frames": 157 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007460296154022217, + "max_z_decrease": 0.007460296154022217, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503182348723542, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007460296154022217, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021461536656825674, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007460296154022217, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007460314649833614, + "max_button_displacement": 0.12, + "button_start": [ + 0.1811150461435317, + -0.36727240681648243, + 0.7768088579177856 + ], + "button_final": [ + 0.1811150461435317, + -0.36727240681648243, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18058733771730304, + -0.3686724491751983, + 0.808093400324084 + ], + "closest_button": [ + 0.18112699687480915, + -0.3672804832458495, + 0.7730934023857117 + ], + "closest_ee_minus_button": [ + -0.0005396591575061171, + -0.0013919659293488151, + 0.034999997938372385 + ], + "button_min_z_position": [ + 0.1810986101627349, + -0.36727482080459584, + 0.7693485617637634 + ], + "min_active_finger_to_button": 0.14678427866179905, + "closest_active_finger": [ + 0.0395522266626358, + -0.351022869348526, + 0.8082771897315979 + ], + "closest_active_finger_button": [ + 0.18112699687480915, + -0.3672804832458495, + 0.7730934023857117 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14157477021217335, + 0.016257613897323497, + 0.03518378734588623 + ], + "min_contact_pad_to_button": 0.021461536656825674, + "closest_contact_pad": [ + 0.1810986101627349, + -0.3702721193613078, + 0.7905997677774043 + ], + "closest_contact_pad_button": [ + 0.1810986101627349, + -0.36727482080459584, + 0.7693485617637634 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029972985567119914, + 0.021251206013640833 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "87e60e685c713a183a0080747a09dd9bcc74f7a0c317f7539620fb9233f03328", + "visual_seed": 6389046542936502398, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..07084019facc73c6de91322aa2f88103845987c4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_13_success.json @@ -0,0 +1,700 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3419020105905573, + 0.003253128795396307, + 1.156931401868618 + ], + "current_z": 1.156931401868618, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.3003449540646972, + "gripper_z": 1.1500920386428684, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3369301594913796, + -0.0016922145749684175, + 1.1500920386428684 + ], + "object_minus_gripper": [ + 0.004971851099177693, + 0.004945343370364725, + 0.006839363225749739 + ], + "object_to_gripper_xy": 0.007012540509915417, + "object_to_gripper_z": 0.006839363225749739, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3419020105905573, + -0.020826096799563498, + 1.156931401868618 + ], + "finger_b": [ + 0.3308187606374542, + 0.003253128795396307, + 1.156931401868618 + ], + "finger_midpoint": [ + 0.3363603856140057, + -0.008786484002083594, + 1.156931401868618 + ], + "object_minus_finger_midpoint": [ + 0.005541624976551585, + 0.012039612797479901, + 0.0 + ], + "finger_gap": 0.026507499594943456, + "fingertip_max_gap": 0.09171882534262035, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013253749797471738, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.156931401868618, + "object_top_z": 1.202756461869267, + "finger_top_clearance": 0.0458250600006489, + "fingertip_min_top_clearance": 0.01374751800019467, + "object_projection_between_fingers": 0.8251777406973568, + "object_to_finger_line_xy": 0.01006794605391626, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835941267131018, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3415048462648012, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3381634689588951, + -0.30395720935496295, + 0.847019525290838 + ], + "target_position": [ + 0.3321023306190502, + -0.304400018271881, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006077291971893393, + "xy_threshold": 0.08, + "gripper_dist": 0.18591263449066575, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019525290838, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519343960727345, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853707773837271, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15471749880154734, + "release_required_pad_clearance": 0.05268538869186355, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4261247149063311, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 162, + "max_placed_release_frames": 162 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007310092449188232, + "max_z_decrease": 0.007310092449188232, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509957351775719, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007310092449188232, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02135528328080125, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007310092449188232, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007310110328178395, + "max_button_displacement": 0.12, + "button_start": [ + 0.18780225515365606, + -0.3606614768505096, + 0.7768088579177856 + ], + "button_final": [ + 0.18780225515365606, + -0.3606614768505096, + 0.7768088579177856 + ], + "closest_ee": [ + 0.185344734103732, + -0.36135150141750094, + 0.8082110743183862 + ], + "closest_button": [ + 0.18781445920467382, + -0.3606684505939483, + 0.7732051610946655 + ], + "closest_ee_minus_button": [ + -0.0024697251009418164, + -0.0006830508235526334, + 0.03500591322372071 + ], + "button_min_z_position": [ + 0.1877861618995667, + -0.3606630265712737, + 0.7694987654685974 + ], + "min_active_finger_to_button": 0.14875303813214735, + "closest_active_finger": [ + 0.04412176460027695, + -0.34527426958084106, + 0.8084598779678345 + ], + "closest_active_finger_button": [ + 0.18781445920467382, + -0.3606684505939483, + 0.7732051610946655 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14369269460439688, + 0.015394181013107244, + 0.035254716873168945 + ], + "min_contact_pad_to_button": 0.02135528328080125, + "closest_contact_pad": [ + 0.1877861618995667, + -0.36281325188664637, + 0.7907455218115407 + ], + "closest_contact_pad_button": [ + 0.1877861618995667, + -0.3606630265712737, + 0.7694987654685974 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002150225315372678, + 0.021246756342943263 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8357f430b0f097ab3b18b859e56c04208711657ea5bef92425393f7f3d2c79df", + "visual_seed": 8998612488763979061, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..65238a3622de20445c6704764d2cecb4195fa1bd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_14_success.json @@ -0,0 +1,700 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33865496074300067, + 0.0006254369440964564, + 1.1589239130349689 + ], + "current_z": 1.1589239130349689, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.30233758444033765, + "gripper_z": 1.1520564300557379, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33352384443360106, + -0.0043415036962351355, + 1.1520564300557379 + ], + "object_minus_gripper": [ + 0.005131116309399608, + 0.004966940640331592, + 0.00686748297923101 + ], + "object_to_gripper_xy": 0.007141348185403388, + "object_to_gripper_z": 0.00686748297923101, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33865496074300067, + -0.023682818970015822, + 1.1589239130349689 + ], + "finger_b": [ + 0.32770272920655025, + 0.0006254369440964564, + 1.1589239130349689 + ], + "finger_midpoint": [ + 0.33317884497477546, + -0.011528691012959683, + 1.1589239130349689 + ], + "object_minus_finger_midpoint": [ + 0.005476115768225209, + 0.01215412795705614, + 0.0 + ], + "finger_gap": 0.026661633131036696, + "fingertip_max_gap": 0.09162695890176134, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013330816565518348, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1589239130349689, + "object_top_z": 1.2046770108199452, + "finger_top_clearance": 0.04575309778497627, + "fingertip_min_top_clearance": 0.013725929335492848, + "object_projection_between_fingers": 0.8312546801168955, + "object_to_finger_line_xy": 0.009985496601434048, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04831347945088067, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2426559764923968, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3339749478708312, + -0.30965372305335515, + 0.847019026618434 + ], + "target_position": [ + 0.32686814375373735, + -0.3106249342621063, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007172859678729682, + "xy_threshold": 0.08, + "gripper_dist": 0.18694208388855563, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019026618434, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751368808706661, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858876428919396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1560761068592739, + "release_required_pad_clearance": 0.052943821445969805, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9228008631233966, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007447719573974609, + "max_z_decrease": 0.007447719573974609, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035075776587139715, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007447719573974609, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021181940469188087, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007447719573974609, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007447746772208238, + "max_button_displacement": 0.12, + "button_start": [ + 0.18256807327270508, + -0.3668864071369171, + 0.7768088579177856 + ], + "button_final": [ + 0.18256807327270508, + -0.3668864071369171, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1810275721414512, + -0.36563211700314974, + 0.8073873189065817 + ], + "closest_button": [ + 0.1825564205646515, + -0.3668904602527618, + 0.7723674774169922 + ], + "closest_ee_minus_button": [ + -0.0015288484232002797, + 0.0012583432496120484, + 0.035019841489589476 + ], + "button_min_z_position": [ + 0.1825486570596695, + -0.36689171195030207, + 0.769361138343811 + ], + "min_active_finger_to_button": 0.1470045799154004, + "closest_active_finger": [ + 0.05435243993997574, + -0.4298749566078186, + 0.8111192584037781 + ], + "closest_active_finger_button": [ + 0.18257178366184235, + -0.3668884932994842, + 0.7764371037483215 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1282193437218666, + -0.0629864633083344, + 0.03468215465545654 + ], + "min_contact_pad_to_button": 0.021181940469188087, + "closest_contact_pad": [ + 0.1825486570596695, + -0.36689171195030207, + 0.7905430788129991 + ], + "closest_contact_pad_button": [ + 0.1825486570596695, + -0.36689171195030207, + 0.769361138343811 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021181940469188087 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9188ee9f8a4a99a5ca8181cd554296757a034722d3965bf434d223610fca55e5", + "visual_seed": 700136507213493457, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94830f4d9db5e2ed76a37db32aba58a800c212f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_15_success.json @@ -0,0 +1,700 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33753659996259383, + 0.00620582201286795, + 1.1597862132768113 + ], + "current_z": 1.1597862132768113, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.3031997654728904, + "gripper_z": 1.152923685565344, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33238474151863406, + 0.0010514055838498626, + 1.152923685565344 + ], + "object_minus_gripper": [ + 0.005151858443959767, + 0.005154416429018088, + 0.006862527711467337 + ], + "object_to_gripper_xy": 0.007287637075920502, + "object_to_gripper_z": 0.006862527711467337, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33753659996259383, + -0.017932049957510836, + 1.1597862132768113 + ], + "finger_b": [ + 0.3260657138096691, + 0.00620582201286795, + 1.1597862132768113 + ], + "finger_midpoint": [ + 0.33180115688613143, + -0.0058631139723214435, + 1.1597862132768113 + ], + "object_minus_finger_midpoint": [ + 0.005735443076462399, + 0.012068935985189395, + 0.0 + ], + "finger_gap": 0.026724859071504167, + "fingertip_max_gap": 0.09128491549852444, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013362429535752096, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597862132768113, + "object_top_z": 1.2055605239929446, + "finger_top_clearance": 0.04577431071613325, + "fingertip_min_top_clearance": 0.013732293214839974, + "object_projection_between_fingers": 0.8157688379291483, + "object_to_finger_line_xy": 0.01036049546997686, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814245774926222, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9757658352027851, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33433573467647193, + -0.30355382344755116, + 0.847019439629619 + ], + "target_position": [ + 0.32566242032053977, + -0.3055380266572851, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008897384126491183, + "xy_threshold": 0.08, + "gripper_dist": 0.1875084985567972, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019439629619, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536587747527143, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851512385434116, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15626094596493675, + "release_required_pad_clearance": 0.0525756192717058, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.21670471771603989, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007525384426116943, + "max_z_decrease": 0.007525384426116943, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504984962323156, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007525384426116943, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021182473272799474, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007525384426116943, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0075254030139957845, + "max_button_displacement": 0.12, + "button_start": [ + 0.18136234581470484, + -0.3617994785308837, + 0.7768088579177856 + ], + "button_final": [ + 0.18136234581470484, + -0.3617994785308837, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17956843263276223, + -0.36161294154517687, + 0.8059005919519582 + ], + "closest_button": [ + 0.18134638667106623, + -0.3618017435073852, + 0.7708963751792908 + ], + "closest_ee_minus_button": [ + -0.0017779540383039971, + 0.00018880196220832923, + 0.03500421677266741 + ], + "button_min_z_position": [ + 0.18134638667106623, + -0.36180448532104487, + 0.7692834734916687 + ], + "min_active_finger_to_button": 0.1474892083806329, + "closest_active_finger": [ + 0.052956581115722656, + -0.42551639676094055, + 0.8108000159263611 + ], + "closest_active_finger_button": [ + 0.1813675612211227, + -0.36180356144905085, + 0.7760961055755615 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12841098010540003, + -0.0637128353118897, + 0.03470391035079956 + ], + "min_contact_pad_to_button": 0.021182473272799474, + "closest_contact_pad": [ + 0.18134638667106623, + -0.36278732400378544, + 0.7904431332733517 + ], + "closest_contact_pad_button": [ + 0.18134638667106623, + -0.36180448532104487, + 0.7692834734916687 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009828386827405722, + 0.021159659781682993 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e3a417b1e8d5acb7335efd24d1f1e79d0daab6f0ace93b793f24c13a2f49377", + "visual_seed": 926863500878516261, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8857f6e1738fb592e63b8b91bacfd61bcb98eb87 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_16_success.json @@ -0,0 +1,700 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3457256001012015, + 0.006246541885032672, + 1.1573298729419894 + ], + "current_z": 1.1573298729419894, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.30074336553342407, + "gripper_z": 1.1505027349555252, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34046975368525234, + 0.001252186939149108, + 1.1505027349555252 + ], + "object_minus_gripper": [ + 0.0052558464159491725, + 0.004994354945883564, + 0.006827137986464171 + ], + "object_to_gripper_xy": 0.007250345017550363, + "object_to_gripper_z": 0.006827137986464171, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3457256001012015, + -0.01826965979644581, + 1.1573298729419894 + ], + "finger_b": [ + 0.3348643915144432, + 0.006246541885032672, + 1.1573298729419894 + ], + "finger_midpoint": [ + 0.34029499580782235, + -0.006011558955706569, + 1.1573298729419894 + ], + "object_minus_finger_midpoint": [ + 0.00543060429337916, + 0.01225810084073924, + 0.0 + ], + "finger_gap": 0.026814361764770773, + "fingertip_max_gap": 0.0912382297078421, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013407180882385386, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1573298729419894, + "object_top_z": 1.2031525518352004, + "finger_top_clearance": 0.04582267889321101, + "fingertip_min_top_clearance": 0.013746803667963336, + "object_projection_between_fingers": 0.8359329460208403, + "object_to_finger_line_xy": 0.009930334443664118, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811911485392105, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1409274276920118, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3333379597584266, + -0.30334906138986195, + 0.8470190045696426 + ], + "target_position": [ + 0.3247379972873097, + -0.30498080637706976, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008753396267043871, + "xy_threshold": 0.08, + "gripper_dist": 0.18641827482017198, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470190045696426, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515714932891271, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08898882234942106, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15566725890161184, + "release_required_pad_clearance": 0.05449441117471053, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.0171410632923985, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 162, + "max_placed_release_frames": 162 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007480978965759277, + "max_z_decrease": 0.007480978965759277, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501030516684298, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007480978965759277, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021252295341147236, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007480978965759277, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007480997677847377, + "max_button_displacement": 0.12, + "button_start": [ + 0.18043792247772217, + -0.36124226450920105, + 0.7768088579177856 + ], + "button_final": [ + 0.18043792247772217, + -0.36124226450920105, + 0.7768088579177856 + ], + "closest_ee": [ + 0.179748510397193, + -0.3604179625999989, + 0.8043219410682119 + ], + "closest_button": [ + 0.18042144179344177, + -0.36124515533447266, + 0.7693278789520264 + ], + "closest_ee_minus_button": [ + -0.0006729313962487715, + 0.0008271927344737362, + 0.0349940621161855 + ], + "button_min_z_position": [ + 0.18042144179344177, + -0.36124515533447266, + 0.7693278789520264 + ], + "min_active_finger_to_button": 0.14615479465338999, + "closest_active_finger": [ + 0.05199222266674042, + -0.42138752341270447, + 0.8082245588302612 + ], + "closest_active_finger_button": [ + 0.18045084178447723, + -0.36124974489212036, + 0.7729675769805908 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12845861911773682, + -0.060137778520584106, + 0.03525698184967041 + ], + "min_contact_pad_to_button": 0.021252295341147236, + "closest_contact_pad": [ + 0.18042144179344177, + -0.3618004657328137, + 0.790572918081876 + ], + "closest_contact_pad_button": [ + 0.18042144179344177, + -0.36124515533447266, + 0.7693278789520264 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005553103983410579, + 0.021245039129849652 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "944ee2329a5de0c501f7b77cb90a0d1d17239cf0d359a6cea429640fd81f325f", + "visual_seed": 2684079666668503711, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c2c170d2c6a8fc988a01bc07e75168587f164323 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_17_success.json @@ -0,0 +1,700 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3363595621815, + 0.0022417879446678312, + 1.158213304930184 + ], + "current_z": 1.158213304930184, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.3016269167309079, + "gripper_z": 1.1513270094894699, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33132994814496675, + -0.002779107990360699, + 1.1513270094894699 + ], + "object_minus_gripper": [ + 0.0050296140365332365, + 0.00502089593502853, + 0.006886295440714063 + ], + "object_to_gripper_xy": 0.00710678642896198, + "object_to_gripper_z": 0.006886295440714063, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3363595621815, + -0.021774336086049288, + 1.158213304930184 + ], + "finger_b": [ + 0.325041863010623, + 0.0022417879446678312, + 1.158213304930184 + ], + "finger_midpoint": [ + 0.3307007125960615, + -0.009766274070690728, + 1.158213304930184 + ], + "object_minus_finger_midpoint": [ + 0.005658849585438497, + 0.012008062015358558, + 0.0 + ], + "finger_gap": 0.026549284886438245, + "fingertip_max_gap": 0.09154805871948804, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013274642443219119, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158213304930184, + "object_top_z": 1.2039323231511094, + "finger_top_clearance": 0.0457190182209255, + "fingertip_min_top_clearance": 0.013715705466277683, + "object_projection_between_fingers": 0.8182766908567207, + "object_to_finger_line_xy": 0.010237837598743332, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827402935974402, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1966463305836685, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33327468536268073, + -0.30368038689084204, + 0.8470197282005678 + ], + "target_position": [ + 0.3252773475325842, + -0.3054315229704423, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00818681195203426, + "xy_threshold": 0.08, + "gripper_dist": 0.18927605235602243, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197282005678, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586608065940778, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08684421535585483, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1567543682537231, + "release_required_pad_clearance": 0.05342210767792742, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8566112470622447, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007609367370605469, + "max_z_decrease": 0.007609367370605469, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501021481232363, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007609367370605469, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021271362653425312, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007609367370605469, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007609384999722425, + "max_button_displacement": 0.12, + "button_start": [ + 0.18097727000713343, + -0.3616929948329925, + 0.7768088579177856 + ], + "button_final": [ + 0.18097727000713343, + -0.3616929948329925, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18172643696816204, + -0.36135565889411514, + 0.8041996780246745 + ], + "closest_button": [ + 0.1809616088867187, + -0.3616977930068969, + 0.7691994905471802 + ], + "closest_ee_minus_button": [ + 0.0007648280814433472, + 0.00034213411278177785, + 0.03500018747749434 + ], + "button_min_z_position": [ + 0.1809616088867187, + -0.3616977930068969, + 0.7691994905471802 + ], + "min_active_finger_to_button": 0.14507629538138941, + "closest_active_finger": [ + 0.05505087226629257, + -0.4247020184993744, + 0.807680606842041 + ], + "closest_active_finger_button": [ + 0.1809894442558288, + -0.3616968989372253, + 0.7727956175804138 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12593857198953623, + -0.0630051195621491, + 0.0348849892616272 + ], + "min_contact_pad_to_button": 0.021271362653425312, + "closest_contact_pad": [ + 0.1809616088867187, + -0.3625088019191401, + 0.7904553869921151 + ], + "closest_contact_pad_button": [ + 0.1809616088867187, + -0.3616977930068969, + 0.7691994905471802 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008110089122431718, + 0.021255896444934974 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "207eb7e7b98685d36093af33aa8f87cf5d7ca19722f38cacdd89c2274571ae98", + "visual_seed": 1546269765849947581, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e24cb1b4cfc35f99b5033f87a9fa5fd22ef888a0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_18_success.json @@ -0,0 +1,700 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3378722703101856, + 0.009115950053235792, + 1.1582354421606669 + ], + "current_z": 1.1582354421606669, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3016489347521013, + "gripper_z": 1.1513745621442024, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33285318076758486, + 0.004272656773347025, + 1.1513745621442024 + ], + "object_minus_gripper": [ + 0.005019089542600719, + 0.004843293279888767, + 0.0068608800164644546 + ], + "object_to_gripper_xy": 0.006974865563697954, + "object_to_gripper_z": 0.0068608800164644546, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3378722703101856, + -0.015136664112242936, + 1.1582354421606669 + ], + "finger_b": [ + 0.3271218360947828, + 0.009115950053235792, + 1.1582354421606669 + ], + "finger_midpoint": [ + 0.3324970532024842, + -0.0030103570295035723, + 1.1582354421606669 + ], + "object_minus_finger_midpoint": [ + 0.005375217107701391, + 0.012126307082739363, + 0.0 + ], + "finger_gap": 0.026528496558969984, + "fingertip_max_gap": 0.09158034729691875, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013264248279484992, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1582354421606669, + "object_top_z": 1.2040021941601995, + "finger_top_clearance": 0.04576675199953262, + "fingertip_min_top_clearance": 0.013730025599859752, + "object_projection_between_fingers": 0.8357797398211362, + "object_to_finger_line_xy": 0.009828153380571664, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048290173648459375, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3320261685166388, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3367540144392936, + -0.30918921457038584, + 0.8470193285240915 + ], + "target_position": [ + 0.32896990234180107, + -0.31084949783412225, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007959204838560989, + "xy_threshold": 0.08, + "gripper_dist": 0.18568341214854808, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193285240915, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557353279928135, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08804636424592781, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15387916333999155, + "release_required_pad_clearance": 0.054023182122963906, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.051958733740005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007703959941864014, + "max_z_decrease": 0.007703959941864014, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505865279759351, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007703959941864014, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021307603904235372, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007703959941864014, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0077039794039888455, + "max_button_displacement": 0.12, + "button_start": [ + 0.18466982245445246, + -0.36711096763610834, + 0.7768088579177856 + ], + "button_final": [ + 0.18466982245445246, + -0.36711096763610834, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18321364599513096, + -0.3684022759181008, + 0.8074585684692872 + ], + "closest_button": [ + 0.184658795595169, + -0.36711680889129633, + 0.7724533081054688 + ], + "closest_ee_minus_button": [ + -0.0014451496000380537, + -0.0012854670268044877, + 0.03500526036381846 + ], + "button_min_z_position": [ + 0.18465313315391535, + -0.36711558699607844, + 0.7691048979759216 + ], + "min_active_finger_to_button": 0.14755512622525727, + "closest_active_finger": [ + 0.041860222816467285, + -0.35413941740989685, + 0.8076707720756531 + ], + "closest_active_finger_button": [ + 0.18467801809310908, + -0.3671183884143829, + 0.7729268670082092 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1428177952766418, + 0.012978971004486028, + 0.03474390506744385 + ], + "min_contact_pad_to_button": 0.021307603904235372, + "closest_contact_pad": [ + 0.18465313315391535, + -0.36954474388480163, + 0.7902735819442215 + ], + "closest_contact_pad_button": [ + 0.18465313315391535, + -0.36711558699607844, + 0.7691048979759216 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002429156888723194, + 0.02116868396829985 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4eae83e669a1be084e5b10c155a10bdf01bb3c63523b285c71cfe6215607e39b", + "visual_seed": 1724015445327236690, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0e8ff21adf046d8aff21ed9aa7a828183a34fc81 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_19_success.json @@ -0,0 +1,700 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34428441151367206, + 0.006418940776898873, + 1.1578189774670642 + ], + "current_z": 1.1578189774670642, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30123241045385385, + "gripper_z": 1.150970031795555, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33906002391436196, + 0.0014340564521650029, + 1.150970031795555 + ], + "object_minus_gripper": [ + 0.0052243875993100986, + 0.00498488432473387, + 0.006848945671509288 + ], + "object_to_gripper_xy": 0.007221031610428152, + "object_to_gripper_z": 0.006848945671509288, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34428441151367206, + -0.01796131420843637, + 1.1578189774670642 + ], + "finger_b": [ + 0.3333021968868029, + 0.006418940776898873, + 1.1578189774670642 + ], + "finger_midpoint": [ + 0.33879330420023746, + -0.005771186715768749, + 1.1578189774670642 + ], + "object_minus_finger_midpoint": [ + 0.005491107313434607, + 0.012190127492667622, + 0.0 + ], + "finger_gap": 0.02673959370036469, + "fingertip_max_gap": 0.09126479099726428, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013369796850182357, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1578189774670642, + "object_top_z": 1.2036144469861867, + "finger_top_clearance": 0.0457954695191225, + "fingertip_min_top_clearance": 0.013738640855736783, + "object_projection_between_fingers": 0.8313174157605441, + "object_to_finger_line_xy": 0.010013210967491136, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048132395498632144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1126908998941691, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3408065916358789, + -0.3112386860304592, + 0.8470195655242825 + ], + "target_position": [ + 0.33301434563157906, + -0.3129806411270237, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007984579221848441, + "xy_threshold": 0.08, + "gripper_dist": 0.18547430227333794, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195655242825, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554059757312924, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08724586663391458, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1538055371602357, + "release_required_pad_clearance": 0.05362293331695729, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.25557028284376, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007875680923461914, + "max_z_decrease": 0.007875680923461914, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035047521656049824, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007875680923461914, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021439979042550836, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007875680923461914, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007875699118979838, + "max_button_displacement": 0.12, + "button_start": [ + 0.1887142658233642, + -0.36924210190773005, + 0.7768088579177856 + ], + "button_final": [ + 0.1887142658233642, + -0.36924210190773005, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1884223112393371, + -0.37092544695782403, + 0.8040083612390545 + ], + "closest_button": [ + 0.18869718909263608, + -0.36924189329147333, + 0.769002377986908 + ], + "closest_ee_minus_button": [ + -0.0002748778532989937, + -0.0016835536663507011, + 0.035005983252146544 + ], + "button_min_z_position": [ + 0.18869733810424802, + -0.36924186348915095, + 0.7689331769943237 + ], + "min_active_finger_to_button": 0.14617704450274435, + "closest_active_finger": [ + 0.04778999835252762, + -0.35374441742897034, + 0.8083087801933289 + ], + "closest_active_finger_button": [ + 0.18872906267642975, + -0.36924934387207026, + 0.7727629542350769 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14093906432390213, + 0.01550492644309992, + 0.03554582595825195 + ], + "min_contact_pad_to_button": 0.021439979042550836, + "closest_contact_pad": [ + 0.18869733810424802, + -0.37222031514418497, + 0.7901652641993925 + ], + "closest_contact_pad_button": [ + 0.18869733810424802, + -0.36924186348915095, + 0.7689331769943237 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00297845165503402, + 0.02123208720506875 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c2d1b75797807addbbdd0374f9138375df5ea04383a5ff33787b269de414f51a", + "visual_seed": 5476312165038851728, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aaaa6d7773ee2e1a5711bf0c90d8392b611d107e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_1_success.json @@ -0,0 +1,700 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33815529736254213, + 0.005423780510043353, + 1.1574154548523474 + ], + "current_z": 1.1574154548523474, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.3008288282344923, + "gripper_z": 1.1505416555407035, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3330895718506129, + 0.00041230039027778664, + 1.1505416555407035 + ], + "object_minus_gripper": [ + 0.005065725511929242, + 0.005011480119765566, + 0.006873799311643891 + ], + "object_to_gripper_xy": 0.007125763675074853, + "object_to_gripper_z": 0.006873799311643891, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33815529736254213, + -0.01868376818019232, + 1.1574154548523474 + ], + "finger_b": [ + 0.32692289078860315, + 0.005423780510043353, + 1.1574154548523474 + ], + "finger_midpoint": [ + 0.33253909407557264, + -0.006629993835074483, + 1.1574154548523474 + ], + "object_minus_finger_midpoint": [ + 0.00561620328696949, + 0.012053774345117837, + 0.0 + ], + "finger_gap": 0.02659588053241237, + "fingertip_max_gap": 0.09128653599004763, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013297940266206185, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1574154548523474, + "object_top_z": 1.2031589397464237, + "finger_top_clearance": 0.045743484894076314, + "fingertip_min_top_clearance": 0.013723045468222894, + "object_projection_between_fingers": 0.8216320244649845, + "object_to_finger_line_xy": 0.010181493636194949, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814326799502382, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1023953577969652, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33971821291075655, + -0.3050639183222552, + 0.8470194968289158 + ], + "target_position": [ + 0.3320137014239213, + -0.30657612137788487, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007851512932692158, + "xy_threshold": 0.08, + "gripper_dist": 0.1862415439787121, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194968289158, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537538542102888, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854734243835054, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15481965500501196, + "release_required_pad_clearance": 0.0527367121917527, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5248852329822964, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007354855537414551, + "max_z_decrease": 0.007354855537414551, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505339720757763, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007354855537414551, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021268658941544845, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007354855537414551, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0073548736722414635, + "max_button_displacement": 0.12, + "button_start": [ + 0.187713623046875, + -0.3628375828266144, + 0.7768088579177856 + ], + "button_final": [ + 0.187713623046875, + -0.3628375828266144, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18634689215742575, + -0.3624151393415455, + 0.8081795586392688 + ], + "closest_button": [ + 0.18772780895233154, + -0.3628431260585785, + 0.7731559872627258 + ], + "closest_ee_minus_button": [ + -0.0013809167949057899, + 0.00042798671703297986, + 0.035023571376542995 + ], + "button_min_z_position": [ + 0.18769733607769012, + -0.3628388047218323, + 0.7694540023803711 + ], + "min_active_finger_to_button": 0.14754157346893823, + "closest_active_finger": [ + 0.05825989693403244, + -0.42402902245521545, + 0.8086927533149719 + ], + "closest_active_finger_button": [ + 0.18772780895233154, + -0.3628431260585785, + 0.7731559872627258 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1294679120182991, + -0.06118589639663696, + 0.035536766052246094 + ], + "min_contact_pad_to_button": 0.021268658941544845, + "closest_contact_pad": [ + 0.18769733607769012, + -0.3639954482855689, + 0.7906911874301422 + ], + "closest_contact_pad_button": [ + 0.18769733607769012, + -0.3628388047218323, + 0.7694540023803711 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011566435637366257, + 0.021237185049771123 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "113ea5d0d06b7baf687e938aee01e86ea9cc0c046f003fb9e43f6a25200bfe8f", + "visual_seed": 979285934034967086, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..824622dfc79fa6b494bfc09e47aec52160264d49 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_20_success.json @@ -0,0 +1,700 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33703406838148914, + 0.005412256711377354, + 1.157089150538017 + ], + "current_z": 1.157089150538017, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3005027027340962, + "gripper_z": 1.150211558537372, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33191673731029125, + 0.0003524526516554133, + 1.150211558537372 + ], + "object_minus_gripper": [ + 0.005117331071197884, + 0.005059804059721941, + 0.006877592000644972 + ], + "object_to_gripper_xy": 0.007196436230178512, + "object_to_gripper_z": 0.006877592000644972, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33703406838148914, + -0.018644629008688515, + 1.157089150538017 + ], + "finger_b": [ + 0.32562709213511215, + 0.005412256711377354, + 1.157089150538017 + ], + "finger_midpoint": [ + 0.33133058025830064, + -0.0066161861486555805, + 1.157089150538017 + ], + "object_minus_finger_midpoint": [ + 0.005703488123188494, + 0.012028442860032934, + 0.0 + ], + "finger_gap": 0.026624290744238013, + "fingertip_max_gap": 0.09129515888874765, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013312145372119007, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157089150538017, + "object_top_z": 1.202822360522645, + "finger_top_clearance": 0.04573320998462793, + "fingertip_min_top_clearance": 0.013719962995388413, + "object_projection_between_fingers": 0.8164370705652926, + "object_to_finger_line_xy": 0.010306990958246874, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048147579444373825, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.054448024468776, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33700676444321753, + -0.31098573710257565, + 0.8470195296721583 + ], + "target_position": [ + 0.32942493003287987, + -0.31236719259861545, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007706661554351456, + "xy_threshold": 0.08, + "gripper_dist": 0.18502517137217012, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195296721583, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751551633697485, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531312748557617, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15429904177011353, + "release_required_pad_clearance": 0.052656563742788084, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.37114969771630113, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007857024669647217, + "max_z_decrease": 0.007857024669647217, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035024276829959115, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007857024669647217, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021316364565994672, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007857024669647217, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007857044330060554, + "max_button_displacement": 0.12, + "button_start": [ + 0.185124859213829, + -0.3686286509037018, + 0.7768088579177856 + ], + "button_final": [ + 0.185124859213829, + -0.3686286509037018, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18544791302577895, + -0.369690685168779, + 0.8072264718262149 + ], + "closest_button": [ + 0.1851120740175247, + -0.3686330914497375, + 0.7722197771072388 + ], + "closest_ee_minus_button": [ + 0.00033583900825426283, + -0.0010575937190415163, + 0.035006694718976106 + ], + "button_min_z_position": [ + 0.1851079165935516, + -0.36863332986831665, + 0.7689518332481384 + ], + "min_active_finger_to_button": 0.14587320431403014, + "closest_active_finger": [ + 0.04408697783946991, + -0.3555772006511688, + 0.8076023459434509 + ], + "closest_active_finger_button": [ + 0.18513697385787964, + -0.3686370551586151, + 0.7727694511413574 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14104999601840973, + 0.013059854507446289, + 0.034832894802093506 + ], + "min_contact_pad_to_button": 0.021316364565994672, + "closest_contact_pad": [ + 0.1851079165935516, + -0.37080075398891266, + 0.7901577208973705 + ], + "closest_contact_pad_button": [ + 0.1851079165935516, + -0.36863332986831665, + 0.7689518332481384 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021674241205960065, + 0.021205887649232036 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2d935a58438e5f6dc62f256f757a2c09ec5c404731baa3a8e7362d1e22db5632", + "visual_seed": 3064423316389646003, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..659d9b84791b18be64e757727af455d0d3d305ea --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_21_success.json @@ -0,0 +1,700 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34033000435374644, + 0.0030641983834672065, + 1.1602073081116704 + ], + "current_z": 1.1602073081116704, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.30362068149381527, + "gripper_z": 1.1533808233615923, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33531475686559453, + -0.0017856117149190193, + 1.1533808233615923 + ], + "object_minus_gripper": [ + 0.005015247488151908, + 0.004849810098386226, + 0.006826484750078077 + ], + "object_to_gripper_xy": 0.00697662994273188, + "object_to_gripper_z": 0.006826484750078077, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34033000435374644, + -0.021353341263058434, + 1.1602073081116704 + ], + "finger_b": [ + 0.32977858825291817, + 0.0030641983834672065, + 1.1602073081116704 + ], + "finger_midpoint": [ + 0.3350542963033323, + -0.009144571439795614, + 1.1602073081116704 + ], + "object_minus_finger_midpoint": [ + 0.005275708050414163, + 0.01220876982326282, + 0.0 + ], + "finger_gap": 0.02659978616685611, + "fingertip_max_gap": 0.09139599593970074, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013299893083428065, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1602073081116704, + "object_top_z": 1.2060300310672973, + "finger_top_clearance": 0.04582272295562695, + "fingertip_min_top_clearance": 0.013746816886688051, + "object_projection_between_fingers": 0.8426505572378196, + "object_to_finger_line_xy": 0.009685777898845978, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819799796985037, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2572460040313365, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33979535630674257, + -0.31127722188698437, + 0.8470192914330072 + ], + "target_position": [ + 0.33203955124028084, + -0.31305432921945864, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00795679726398048, + "xy_threshold": 0.08, + "gripper_dist": 0.18596639747316257, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470192914330072, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755085314905489, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08700863079295855, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15445391751459003, + "release_required_pad_clearance": 0.05350431539647928, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0193756077522513, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007806837558746338, + "max_z_decrease": 0.007806837558746338, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035050882318588356, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007806837558746338, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021188936483031995, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007806837558746338, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007806856070467989, + "max_button_displacement": 0.12, + "button_start": [ + 0.18773947656154627, + -0.36931577324867243, + 0.7768088579177856 + ], + "button_final": [ + 0.18773947656154627, + -0.36931577324867243, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18640021216644465, + -0.3678938558390064, + 0.8071013321533027 + ], + "closest_button": [ + 0.18772880733013148, + -0.36931988596916193, + 0.7721046805381775 + ], + "closest_ee_minus_button": [ + -0.0013285951636868298, + 0.00142603013015552, + 0.03499665161512522 + ], + "button_min_z_position": [ + 0.18772311508655543, + -0.3693203926086425, + 0.7690020203590393 + ], + "min_active_finger_to_button": 0.14679393290478088, + "closest_active_finger": [ + 0.060061752796173096, + -0.4328422248363495, + 0.8075729012489319 + ], + "closest_active_finger_button": [ + 0.18774947524070734, + -0.369324505329132, + 0.7727906703948975 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12768772244453425, + -0.06351771950721746, + 0.034782230854034424 + ], + "min_contact_pad_to_button": 0.021188936483031995, + "closest_contact_pad": [ + 0.18772311508655543, + -0.3693203926086425, + 0.7901909568420713 + ], + "closest_contact_pad_button": [ + 0.18772311508655543, + -0.3693203926086425, + 0.7690020203590393 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021188936483031995 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6d714f390f529a712d04fe5721b68da4d1a69df8948db42b5ff916b438c60332", + "visual_seed": 8030885109527739685, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8261a9189121c8d65a82c036b23f245b9de5805d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_22_success.json @@ -0,0 +1,700 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3389533114475176, + 0.009047757950313803, + 1.1588915173480014 + ], + "current_z": 1.1588915173480014, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30230506954408065, + "gripper_z": 1.1520244714671397, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3338600220362933, + 0.003978703492073146, + 1.1520244714671397 + ], + "object_minus_gripper": [ + 0.005093289411224333, + 0.005069054458240657, + 0.006867045880861733 + ], + "object_to_gripper_xy": 0.007185882696447208, + "object_to_gripper_z": 0.006867045880861733, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3389533114475176, + -0.015020843868183273, + 1.1588915173480014 + ], + "finger_b": [ + 0.32757261799225484, + 0.009047757950313803, + 1.1588915173480014 + ], + "finger_midpoint": [ + 0.33326296471988626, + -0.0029865429589347346, + 1.1588915173480014 + ], + "object_minus_finger_midpoint": [ + 0.005690346727631357, + 0.012034300909248539, + 0.0 + ], + "finger_gap": 0.026623631927669478, + "fingertip_max_gap": 0.09142197981807573, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013311815963834728, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1588915173480014, + "object_top_z": 1.2046533772999262, + "finger_top_clearance": 0.04576185995192472, + "fingertip_min_top_clearance": 0.013728557985577415, + "object_projection_between_fingers": 0.8172729469805576, + "object_to_finger_line_xy": 0.010288505337561333, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821098990903787, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0991321301190344, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3404053240279719, + -0.30982794505755984, + 0.8470197207365298 + ], + "target_position": [ + 0.33302550550077215, + -0.31121205009677333, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0075084930747771955, + "xy_threshold": 0.08, + "gripper_dist": 0.18661652878726148, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197207365298, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538041778488357, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08535747996997349, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1551291521968469, + "release_required_pad_clearance": 0.05267873998498675, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4130671677589296, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007437527179718018, + "max_z_decrease": 0.007437527179718018, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505956078071751, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007437527179718018, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0212283863838408, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007437527179718018, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007437545742541061, + "max_button_displacement": 0.12, + "button_start": [ + 0.18872542679309845, + -0.36747351288795466, + 0.7768088579177856 + ], + "button_final": [ + 0.18872542679309845, + -0.36747351288795466, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18753256489378195, + -0.36618323408096354, + 0.8043873803903996 + ], + "closest_button": [ + 0.1887088119983673, + -0.3674737811088562, + 0.7693713307380676 + ], + "closest_ee_minus_button": [ + -0.0011762471045853595, + 0.0012905470278926634, + 0.03501604965233196 + ], + "button_min_z_position": [ + 0.1887088119983673, + -0.3674737811088562, + 0.7693713307380676 + ], + "min_active_finger_to_button": 0.1465564460339995, + "closest_active_finger": [ + 0.059754565358161926, + -0.4272228181362152, + 0.8088138103485107 + ], + "closest_active_finger_button": [ + 0.188739612698555, + -0.3674785792827606, + 0.7731448411941528 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12898504734039307, + -0.05974423885345459, + 0.03566896915435791 + ], + "min_contact_pad_to_button": 0.0212283863838408, + "closest_contact_pad": [ + 0.1887088119983673, + -0.3675717244038997, + 0.7905994911758586 + ], + "closest_contact_pad_button": [ + 0.1887088119983673, + -0.3674737811088562, + 0.7693713307380676 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -9.794329504347887e-05, + 0.021228160437790966 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b8fa53528bb7b9f98997caaec754066ecfa3efcd8f82bfc31e08229c88cd5c7", + "visual_seed": 922453673787213322, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..974b08108717a4a30ebdced08c298ffe0d939694 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_23_success.json @@ -0,0 +1,700 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34525111315002444, + 0.0004432376563668506, + 1.1581170641731149 + ], + "current_z": 1.1581170641731149, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3015305567645493, + "gripper_z": 1.1512824965267925, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34010208337015885, + -0.0045288210283555425, + 1.1512824965267925 + ], + "object_minus_gripper": [ + 0.005149029779865588, + 0.004972058684722393, + 0.006834567646322398 + ], + "object_to_gripper_xy": 0.007157784240829423, + "object_to_gripper_z": 0.006834567646322398, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34525111315002444, + -0.024026469977605654, + 1.1581170641731149 + ], + "finger_b": [ + 0.33447545803960493, + 0.0004432376563668506, + 1.1581170641731149 + ], + "finger_midpoint": [ + 0.3398632855948147, + -0.011791616160619401, + 1.1581170641731149 + ], + "object_minus_finger_midpoint": [ + 0.005387827555209723, + 0.012234853816986252, + 0.0 + ], + "finger_gap": 0.02673726490781737, + "fingertip_max_gap": 0.09139341534338394, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013368632453908673, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1581170641731149, + "object_top_z": 1.2039229955341613, + "finger_top_clearance": 0.04580593136104638, + "fingertip_min_top_clearance": 0.01374177940831388, + "object_projection_between_fingers": 0.8375748009994052, + "object_to_finger_line_xy": 0.009861783956794861, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819670767169197, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1767998364231507, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.34041738709194597, + -0.3034735260072951, + 0.8470198465894452 + ], + "target_position": [ + 0.3321722284397467, + -0.3055444300415361, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008501251950093706, + "xy_threshold": 0.08, + "gripper_dist": 0.18733469392245067, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198465894452, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575519415637191, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08852913518660009, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15514624330315177, + "release_required_pad_clearance": 0.05426456759330005, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5470882237300234, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007449924945831299, + "max_z_decrease": 0.007449924945831299, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035035169204370484, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007449924945831299, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021238477637531283, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007449924945831299, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007449945447447613, + "max_button_displacement": 0.12, + "button_start": [ + 0.1878721565008163, + -0.36180588603019714, + 0.7768088579177856 + ], + "button_final": [ + 0.1878721565008163, + -0.36180588603019714, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18778222854239746, + -0.3602128099577937, + 0.8043576967022298 + ], + "closest_button": [ + 0.18785479664802546, + -0.36180791258811945, + 0.7693589329719543 + ], + "closest_ee_minus_button": [ + -7.256810562800142e-05, + 0.001595102630325751, + 0.03499876373027544 + ], + "button_min_z_position": [ + 0.18785479664802546, + -0.36180791258811945, + 0.7693589329719543 + ], + "min_active_finger_to_button": 0.14534561129499624, + "closest_active_finger": [ + 0.060918837785720825, + -0.42308658361434937, + 0.8084448575973511 + ], + "closest_active_finger_button": [ + 0.1878859251737594, + -0.36181312799453735, + 0.7730857133865356 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12696708738803858, + -0.06127345561981201, + 0.03535914421081543 + ], + "min_contact_pad_to_button": 0.021238477637531283, + "closest_contact_pad": [ + 0.18785479664802546, + -0.36180791258811945, + 0.7905974106094856 + ], + "closest_contact_pad_button": [ + 0.18785479664802546, + -0.36180791258811945, + 0.7693589329719543 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021238477637531283 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "053eebb9bf685fe4fe8561f32fe72efba75cc5697a612fe3819ca0d43c5863c4", + "visual_seed": 2380955508806437020, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7482fe4dc71f42f9d041cd2f6b44d74dd7946d82 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_24_success.json @@ -0,0 +1,700 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3439294451163356, + -0.0014816693210394916, + 1.1576127057323267 + ], + "current_z": 1.1576127057323267, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30102625792840587, + "gripper_z": 1.1507889160481204, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3388314283762146, + -0.006498816757207634, + 1.1507889160481204 + ], + "object_minus_gripper": [ + 0.005098016740121003, + 0.005017147436168143, + 0.006823789684206272 + ], + "object_to_gripper_xy": 0.007152729764139181, + "object_to_gripper_z": 0.006823789684206272, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3439294451163356, + -0.025735393550535626, + 1.1576127057323267 + ], + "finger_b": [ + 0.33285122120900956, + -0.0014816693210394916, + 1.1576127057323267 + ], + "finger_midpoint": [ + 0.3383903331626726, + -0.013608531435787559, + 1.1576127057323267 + ], + "object_minus_finger_midpoint": [ + 0.005539111953663023, + 0.012126862114748067, + 0.0 + ], + "finger_gap": 0.026664024151303534, + "fingertip_max_gap": 0.09158237349528167, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013332012075651767, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1576127057323267, + "object_top_z": 1.2034705371544192, + "finger_top_clearance": 0.04585783142209254, + "fingertip_min_top_clearance": 0.013757349426627763, + "object_projection_between_fingers": 0.8273808835969648, + "object_to_finger_line_xy": 0.010076805589292935, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829118674764084, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2431339184347525, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3372187781574202, + -0.30507531421898004, + 0.847019473740257 + ], + "target_position": [ + 0.33033299321606485, + -0.30602104184020784, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006950426964737422, + "xy_threshold": 0.08, + "gripper_dist": 0.18524626676497416, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019473740257, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516894966956336, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504882711119464, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15444524453915423, + "release_required_pad_clearance": 0.052524413555597324, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11869377967677804, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007632791996002197, + "max_z_decrease": 0.007632791996002197, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503006604740317, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007632791996002197, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0213626910907866, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007632791996002197, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007632809269344778, + "max_button_displacement": 0.12, + "button_start": [ + 0.18603292107582087, + -0.36228251457214355, + 0.7768088579177856 + ], + "button_final": [ + 0.18603292107582087, + -0.36228251457214355, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18691209985338678, + -0.3634844911677251, + 0.8041742135775765 + ], + "closest_button": [ + 0.18601725995540613, + -0.3622868061065673, + 0.7691760659217834 + ], + "closest_ee_minus_button": [ + 0.0008948398979806427, + -0.0011976850611577494, + 0.03499814765579301 + ], + "button_min_z_position": [ + 0.18601725995540613, + -0.3622868061065673, + 0.7691760659217834 + ], + "min_active_finger_to_button": 0.14496730483176934, + "closest_active_finger": [ + 0.045961491763591766, + -0.3492630124092102, + 0.8079585433006287 + ], + "closest_active_finger_button": [ + 0.18604288995265955, + -0.36228784918785095, + 0.7729860544204712 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14008139818906779, + 0.013024836778640747, + 0.03497248888015747 + ], + "min_contact_pad_to_button": 0.0213626910907866, + "closest_contact_pad": [ + 0.18601725995540613, + -0.3645066968465675, + 0.7904231046741093 + ], + "closest_contact_pad_button": [ + 0.18601725995540613, + -0.3622868061065673, + 0.7691760659217834 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022198907400001744, + 0.02124703875232581 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ea06efa1dd533ea34b9933395603c7b5319ac17522240e9525ac959ba270708", + "visual_seed": 4640724943552721669, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fcb665affd443a8d8a31e0e968263643b204d8d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_25_success.json @@ -0,0 +1,700 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33611885592148755, + 0.003644064974964629, + 1.1603203618944178 + ], + "current_z": 1.1603203618944178, + "required_z": 0.8565862689899865, + "initial_z": 0.7565862689899865, + "lift_margin": 0.3037340929044313, + "gripper_z": 1.1534315930987336, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3309660721862134, + -0.0013924473198494297, + 1.1534315930987336 + ], + "object_minus_gripper": [ + 0.005152783735274169, + 0.0050365122948140585, + 0.00688876879568423 + ], + "object_to_gripper_xy": 0.007205389393941121, + "object_to_gripper_z": 0.00688876879568423, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33611885592148755, + -0.02051973434918641, + 1.1603203618944178 + ], + "finger_b": [ + 0.3248478472680971, + 0.003644064974964629, + 1.1603203618944178 + ], + "finger_midpoint": [ + 0.33048335159479236, + -0.00843783468711089, + 1.1603203618944178 + ], + "object_minus_finger_midpoint": [ + 0.005635504326695184, + 0.01208189966207552, + 0.0 + ], + "finger_gap": 0.02666317373912273, + "fingertip_max_gap": 0.09128870797964647, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013331586869561353, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1603203618944178, + "object_top_z": 1.2060396848099098, + "finger_top_clearance": 0.04571932291549197, + "fingertip_min_top_clearance": 0.013715796874647622, + "object_projection_between_fingers": 0.8213093283320022, + "object_to_finger_line_xy": 0.01021447761418132, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814435398982324, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1005331300618364, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33335890438947824, + -0.3073541600562572, + 0.8470195453563203 + ], + "target_position": [ + 0.325260577328806, + -0.3090243619619408, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008268765058179223, + "xy_threshold": 0.08, + "gripper_dist": 0.1872932717079647, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195453563203, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523947063278742, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551734172170537, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15623874310934455, + "release_required_pad_clearance": 0.05275867086085269, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.566480285558686, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007572650909423828, + "max_z_decrease": 0.007572650909423828, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505611306112131, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007572650909423828, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02125463576318032, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007572650909423828, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007572669514036964, + "max_button_displacement": 0.12, + "button_start": [ + 0.18096050620079035, + -0.3652858138084411, + 0.7768088579177856 + ], + "button_final": [ + 0.18096050620079035, + -0.3652858138084411, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17956673129564, + -0.363691119113675, + 0.8049381023956576 + ], + "closest_button": [ + 0.18094597756862635, + -0.3652882575988769, + 0.7699455618858337 + ], + "closest_ee_minus_button": [ + -0.0013792462729863564, + 0.0015971384852018766, + 0.03499254050982381 + ], + "button_min_z_position": [ + 0.18094405531883234, + -0.36528915166854853, + 0.7692362070083618 + ], + "min_active_finger_to_button": 0.14656544157848148, + "closest_active_finger": [ + 0.051790252327919006, + -0.4249366819858551, + 0.8079660534858704 + ], + "closest_active_finger_button": [ + 0.1809734404087066, + -0.36529409885406494, + 0.7728107571601868 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1291831880807876, + -0.05964258313179016, + 0.035155296325683594 + ], + "min_contact_pad_to_button": 0.02125463576318032, + "closest_contact_pad": [ + 0.18094405531883234, + -0.36528915166854853, + 0.7904908427715421 + ], + "closest_contact_pad_button": [ + 0.18094405531883234, + -0.36528915166854853, + 0.7692362070083618 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02125463576318032 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "28cbad47d7ab918dd822d4725d280ce96d9d80c6af00cefeb9d4f6043ec6a53a", + "visual_seed": 909458407617117341, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5e365012d981d814b5b3e36e90491708ca3492a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_26_success.json @@ -0,0 +1,700 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3424138917243187, + 0.004531971699843474, + 1.1593140231726946 + ], + "current_z": 1.1593140231726946, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30272751576412904, + "gripper_z": 1.1524546804928473, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33719049018333935, + -0.00046208702286139325, + 1.1524546804928473 + ], + "object_minus_gripper": [ + 0.005223401540979333, + 0.004994058722704867, + 0.006859342679847336 + ], + "object_to_gripper_xy": 0.0072266552556580314, + "object_to_gripper_z": 0.006859342679847336, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3424138917243187, + -0.019959071280699892, + 1.1593140231726946 + ], + "finger_b": [ + 0.33157247749934343, + 0.004531971699843474, + 1.1593140231726946 + ], + "finger_midpoint": [ + 0.33699318461183103, + -0.007713549790428209, + 1.1593140231726946 + ], + "object_minus_finger_midpoint": [ + 0.005420707112487655, + 0.012245521490271683, + 0.0 + ], + "finger_gap": 0.026783342746422044, + "fingertip_max_gap": 0.09145675659442834, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013391671373211032, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1593140231726946, + "object_top_z": 1.205057076156693, + "finger_top_clearance": 0.04574305298399839, + "fingertip_min_top_clearance": 0.013722915895199516, + "object_projection_between_fingers": 0.8361515572195394, + "object_to_finger_line_xy": 0.009913532611205271, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04822837829721417, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2066448257911786, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3321876008309014, + -0.30521806833078313, + 0.8470182123947023 + ], + "target_position": [ + 0.324146759497898, + -0.30709654379348295, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008257348206688431, + "xy_threshold": 0.08, + "gripper_dist": 0.1859566737530011, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470182123947023, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591346189420516, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08789191636080317, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15358004448654158, + "release_required_pad_clearance": 0.053945958180401585, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.896144365008188, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007495403289794922, + "max_z_decrease": 0.007495403289794922, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035044297253643754, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007495403289794922, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02123986705190306, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007495403289794922, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00749542330547166, + "max_button_displacement": 0.12, + "button_start": [ + 0.17984668910503387, + -0.3633579909801482, + 0.7768088579177856 + ], + "button_final": [ + 0.17984668910503387, + -0.3633579909801482, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17951596409887832, + -0.36162745178333866, + 0.8055449392362583 + ], + "closest_button": [ + 0.1798321902751923, + -0.36336284875869745, + 0.7705450654029846 + ], + "closest_ee_minus_button": [ + -0.0003162261763139662, + 0.001735396975358794, + 0.03499987383327363 + ], + "button_min_z_position": [ + 0.17983023822307587, + -0.36336341500282276, + 0.7693134546279907 + ], + "min_active_finger_to_button": 0.14558131867888308, + "closest_active_finger": [ + 0.05249972641468048, + -0.4246891140937805, + 0.8076937794685364 + ], + "closest_active_finger_button": [ + 0.17985981702804568, + -0.3633653223514556, + 0.7728696465492249 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1273600906133652, + -0.06132379174232494, + 0.03482413291931152 + ], + "min_contact_pad_to_button": 0.02123986705190306, + "closest_contact_pad": [ + 0.17983023822307587, + -0.36336341500282276, + 0.7905533216798938 + ], + "closest_contact_pad_button": [ + 0.17983023822307587, + -0.36336341500282276, + 0.7693134546279907 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02123986705190306 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7e41d675615c980defa88084e82803138fa88304bb87c5a6f3918278ab04bf57", + "visual_seed": 6565563558295184550, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5013a72162645bb77d22b1822a1b3b182297071 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_27_success.json @@ -0,0 +1,700 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3412198482844103, + 0.005946992726687748, + 1.1581650555629335 + ], + "current_z": 1.1581650555629335, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.30157866736365746, + "gripper_z": 1.1513009614983614, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33606793767719434, + 0.0010175239686670834, + 1.1513009614983614 + ], + "object_minus_gripper": [ + 0.0051519106072159815, + 0.004929468758020665, + 0.006864094064572113 + ], + "object_to_gripper_xy": 0.007130346775651682, + "object_to_gripper_z": 0.006864094064572113, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3412198482844103, + -0.018461252052916644, + 1.1581650555629335 + ], + "finger_b": [ + 0.33042083789254667, + 0.005946992726687748, + 1.1581650555629335 + ], + "finger_midpoint": [ + 0.3358203430884785, + -0.006257129663114448, + 1.1581650555629335 + ], + "object_minus_finger_midpoint": [ + 0.0053995051959317975, + 0.012204122389802195, + 0.0 + ], + "finger_gap": 0.02669046718708131, + "fingertip_max_gap": 0.09143059197307121, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013345233593540643, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1581650555629335, + "object_top_z": 1.2039323239243207, + "finger_top_clearance": 0.045767268361387226, + "fingertip_min_top_clearance": 0.013730180508416201, + "object_projection_between_fingers": 0.8362974038975306, + "object_to_finger_line_xy": 0.009875619155504318, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821529598653561, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1118295974273396, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33325750336904836, + -0.3042680415684304, + 0.8470194839660645 + ], + "target_position": [ + 0.32488093166941784, + -0.3062152336894786, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008599913406268877, + "xy_threshold": 0.08, + "gripper_dist": 0.18829420175724987, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194839660645, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537953805308277, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08736016026542441, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1570487261317726, + "release_required_pad_clearance": 0.05368008013271221, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3679806114027357, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0074710845947265625, + "max_z_decrease": 0.0074710845947265625, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506406078422255, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0074710845947265625, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021249455843385168, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0074710845947265625, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007471103185861793, + "max_button_displacement": 0.12, + "button_start": [ + 0.18058085441589355, + -0.36247670650482167, + 0.7768088579177856 + ], + "button_final": [ + 0.18058085441589355, + -0.36247670650482167, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17862378298530615, + -0.3612454268221809, + 0.8043263195855599 + ], + "closest_button": [ + 0.1805644780397415, + -0.36247980594635, + 0.7693377733230591 + ], + "closest_ee_minus_button": [ + -0.0019406950544353374, + 0.0012343791241690716, + 0.03498854626250081 + ], + "button_min_z_position": [ + 0.1805644780397415, + -0.36247980594635, + 0.7693377733230591 + ], + "min_active_finger_to_button": 0.14707860633403932, + "closest_active_finger": [ + 0.05089709907770157, + -0.42227235436439514, + 0.8081399202346802 + ], + "closest_active_finger_button": [ + 0.18059356510639188, + -0.362484186887741, + 0.7729786038398743 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1296964660286903, + -0.059788167476654164, + 0.03516131639480591 + ], + "min_contact_pad_to_button": 0.021249455843385168, + "closest_contact_pad": [ + 0.1805644780397415, + -0.36262034686017813, + 0.7905867644024378 + ], + "closest_contact_pad_button": [ + 0.1805644780397415, + -0.36247980594635, + 0.7693377733230591 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001405409138281466, + 0.02124899107937872 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f87afeca71acb6b91d6ca5855f0ef74d6d7fc23d087e4032aa5fe7cb0b4f6041", + "visual_seed": 8138111672962492785, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8af744766e965f6c43d30f530b06123e9827b981 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_28_success.json @@ -0,0 +1,700 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3447264938916428, + 0.008173222430567456, + 1.1573881809168818 + ], + "current_z": 1.1573881809168818, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3008016735083162, + "gripper_z": 1.1505719356906972, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3396303453631848, + 0.003129279307948485, + 1.1505719356906972 + ], + "object_minus_gripper": [ + 0.005096148528457967, + 0.005043943122618971, + 0.006816245226184625 + ], + "object_to_gripper_xy": 0.007170222594056583, + "object_to_gripper_z": 0.006816245226184625, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3447264938916428, + -0.016006408367495933, + 1.1573881809168818 + ], + "finger_b": [ + 0.33350335474303555, + 0.008173222430567456, + 1.1573881809168818 + ], + "finger_midpoint": [ + 0.33911492431733914, + -0.0039165929684642385, + 1.1573881809168818 + ], + "object_minus_finger_midpoint": [ + 0.005611569574303643, + 0.012089815399031693, + 0.0 + ], + "finger_gap": 0.026657332910095408, + "fingertip_max_gap": 0.09119645400621088, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013328666455047716, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1573881809168818, + "object_top_z": 1.2032564272498334, + "finger_top_clearance": 0.04586824633295161, + "fingertip_min_top_clearance": 0.013760473899885483, + "object_projection_between_fingers": 0.8227463023848987, + "object_to_finger_line_xy": 0.010179989195612391, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04809822700310544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0979973525093814, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33865931577314895, + -0.3062866156129181, + 0.847019647440243 + ], + "target_position": [ + 0.33080715011718526, + -0.3079706296926738, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008030716587547542, + "xy_threshold": 0.08, + "gripper_dist": 0.1852386522321591, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019647440243, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540143983836968, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549905446800009, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1539769120035451, + "release_required_pad_clearance": 0.052749527234000046, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5496506405367838, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007616162300109863, + "max_z_decrease": 0.007616162300109863, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035056157539562524, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007616162300109863, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021405224631268586, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007616162300109863, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007616187609872836, + "max_button_displacement": 0.12, + "button_start": [ + 0.18650707602500907, + -0.36423209309577936, + 0.7768088579177856 + ], + "button_final": [ + 0.18650707602500907, + -0.36423209309577936, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18500312987965975, + -0.3656724672297689, + 0.8101434090572014 + ], + "closest_button": [ + 0.1865140944719314, + -0.36423632502555847, + 0.7751492857933044 + ], + "closest_ee_minus_button": [ + -0.001510964592271652, + -0.0014361422042104555, + 0.03499412326389695 + ], + "button_min_z_position": [ + 0.18648776412010185, + -0.36423563957214355, + 0.7691926956176758 + ], + "min_active_finger_to_button": 0.1476751785416044, + "closest_active_finger": [ + 0.04366101324558258, + -0.3508548438549042, + 0.8079356551170349 + ], + "closest_active_finger_button": [ + 0.18651674687862385, + -0.3642399311065674, + 0.7729923129081726 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14285573363304127, + 0.013385087251663208, + 0.034943342208862305 + ], + "min_contact_pad_to_button": 0.021405224631268586, + "closest_contact_pad": [ + 0.18648776412010185, + -0.36697106407474034, + 0.7904224175731245 + ], + "closest_contact_pad_button": [ + 0.18648776412010185, + -0.36423563957214355, + 0.7691926956176758 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002735424502596784, + 0.0212297219554487 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "31556bc7711e65f66a504320bc3bdf8fb2bd856de2f686961e6cd8721f7261f2", + "visual_seed": 2253139273533976076, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b5fef9d92b3fc17cde1c8d31a71fdf8defe42dfd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_29_success.json @@ -0,0 +1,700 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3445322991309629, + 0.00415298771223668, + 1.1597037007437208 + ], + "current_z": 1.1597037007437208, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3031171933351552, + "gripper_z": 1.1528653820839716, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3393479812146476, + -0.0008418635075269632, + 1.1528653820839716 + ], + "object_minus_gripper": [ + 0.005184317916315295, + 0.004994851219763643, + 0.006838318659749154 + ], + "object_to_gripper_xy": 0.007199006248434718, + "object_to_gripper_z": 0.006838318659749154, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3445322991309629, + -0.020288842141084958, + 1.1597037007437208 + ], + "finger_b": [ + 0.33364311082023246, + 0.00415298771223668, + 1.1597037007437208 + ], + "finger_midpoint": [ + 0.3390877049755977, + -0.008067927214424139, + 1.1597037007437208 + ], + "object_minus_finger_midpoint": [ + 0.00544459415536519, + 0.012220914926660819, + 0.0 + ], + "finger_gap": 0.026757755299076813, + "fingertip_max_gap": 0.09123730849731757, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013378877649538394, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597037007437208, + "object_top_z": 1.2054969597536098, + "finger_top_clearance": 0.045793259009889065, + "fingertip_min_top_clearance": 0.01373797770296672, + "object_projection_between_fingers": 0.8343880537317644, + "object_to_finger_line_xy": 0.009946712082415769, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048118654248658785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1451404873434516, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3361786043372263, + -0.30533588770682185, + 0.8470195433473182 + ], + "target_position": [ + 0.3283178040251571, + -0.30717843097541647, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008073855785364924, + "xy_threshold": 0.08, + "gripper_dist": 0.1896109110130786, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195433473182, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755446850970765, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08664704125955706, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15789061557711234, + "release_required_pad_clearance": 0.053323520629778534, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6645549206184604, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 162, + "max_placed_release_frames": 162 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00722581148147583, + "max_z_decrease": 0.00722581148147583, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505381780941306, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00722581148147583, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02126710600525651, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00722581148147583, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007225836214962347, + "max_button_displacement": 0.12, + "button_start": [ + 0.18401773273944852, + -0.3634398877620696, + 0.7768088579177856 + ], + "button_final": [ + 0.18401773273944852, + -0.3634398877620696, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18199334493726313, + -0.3629805526812722, + 0.8078632743205104 + ], + "closest_button": [ + 0.18400909006595612, + -0.3634447753429412, + 0.7728705406188965 + ], + "closest_ee_minus_button": [ + -0.002015745128692986, + 0.000464222661668956, + 0.03499273370161393 + ], + "button_min_z_position": [ + 0.18399915099143982, + -0.36344337463378895, + 0.7695830464363098 + ], + "min_active_finger_to_button": 0.14787604776061009, + "closest_active_finger": [ + 0.05475129187107086, + -0.42618638277053833, + 0.8081865310668945 + ], + "closest_active_finger_button": [ + 0.1840280145406723, + -0.3634469509124755, + 0.7732778191566467 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12927672266960144, + -0.06273943185806286, + 0.0349087119102478 + ], + "min_contact_pad_to_button": 0.02126710600525651, + "closest_contact_pad": [ + 0.18399915099143982, + -0.3643882480085123, + 0.7908291522476004 + ], + "closest_contact_pad_button": [ + 0.18399915099143982, + -0.36344337463378895, + 0.7695830464363098 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009448733747233762, + 0.021246105811290605 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c7e5e857dfc7a637596334d1bc1ecdff66d5539925face97eb1b631c4dcd1e86", + "visual_seed": 1675597195423277174, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..21a9cd321571b729d2c670766ad990b5a1222694 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_2_success.json @@ -0,0 +1,700 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3402737969482526, + 0.0030772275925087765, + 1.1592476907897515 + ], + "current_z": 1.1592476907897515, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30266124298583075, + "gripper_z": 1.152388347308679, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3351573890693743, + -0.0019391619336421445, + 1.152388347308679 + ], + "object_minus_gripper": [ + 0.005116407878878293, + 0.005016389526150921, + 0.006859343481072644 + ], + "object_to_gripper_xy": 0.007165318796894144, + "object_to_gripper_z": 0.006859343481072644, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3402737969482526, + -0.021099827075721504, + 1.1592476907897515 + ], + "finger_b": [ + 0.32907710789105143, + 0.0030772275925087765, + 1.1592476907897515 + ], + "finger_midpoint": [ + 0.334675452419652, + -0.009011299741606364, + 1.1592476907897515 + ], + "object_minus_finger_midpoint": [ + 0.005598344528600585, + 0.01208852733411514, + 0.0 + ], + "finger_gap": 0.02664387018198077, + "fingertip_max_gap": 0.09136140293632736, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013321935090990385, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1592476907897515, + "object_top_z": 1.2050257391188217, + "finger_top_clearance": 0.045778048329070176, + "fingertip_min_top_clearance": 0.013733414498721052, + "object_projection_between_fingers": 0.8234024731285039, + "object_to_finger_line_xy": 0.010160046629494705, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818070146816368, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.164683186188288, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3355353160937047, + -0.3099569900418091, + 0.847019549499965 + ], + "target_position": [ + 0.3274262998892975, + -0.3118453965087062, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008325996804440714, + "xy_threshold": 0.08, + "gripper_dist": 0.18956679923078726, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019549499965, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553317703342714, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08635371299489779, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1578264163079871, + "release_required_pad_clearance": 0.053176856497448896, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.377404831492054, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00765913724899292, + "max_z_decrease": 0.00765913724899292, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035046626586918865, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00765913724899292, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021194761131304814, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00765913724899292, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007659157693865782, + "max_button_displacement": 0.12, + "button_start": [ + 0.18312622606754309, + -0.3681068420410155, + 0.7768088579177856 + ], + "button_final": [ + 0.18312622606754309, + -0.3681068420410155, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18352383314291038, + -0.36756785018941174, + 0.8074759279443299 + ], + "closest_button": [ + 0.18311539292335516, + -0.36811181902885426, + 0.7724359035491943 + ], + "closest_ee_minus_button": [ + 0.00040844021955521725, + 0.0005439688394425213, + 0.03504002439513554 + ], + "button_min_z_position": [ + 0.1831092089414597, + -0.3681116998195647, + 0.7691497206687927 + ], + "min_active_finger_to_button": 0.14565386036106873, + "closest_active_finger": [ + 0.05724237114191055, + -0.43265312910079956, + 0.8109714984893799 + ], + "closest_active_finger_button": [ + 0.18313078582286837, + -0.3681086599826812, + 0.7763136625289917 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12588841468095782, + -0.06454446911811834, + 0.034657835960388184 + ], + "min_contact_pad_to_button": 0.021194761131304814, + "closest_contact_pad": [ + 0.1831092089414597, + -0.36864984009953433, + 0.7903376489406211 + ], + "closest_contact_pad_button": [ + 0.1831092089414597, + -0.3681116998195647, + 0.7691497206687927 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005381402799696233, + 0.02118792827182836 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b41efacc4949732998de838692f23a46bbc32095ca9e9367d5d3edc7f4018594", + "visual_seed": 6631499413100672153, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cc535412e65a2793db8a67d109bf0baf7b0fb267 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_30_success.json @@ -0,0 +1,700 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3372261589643933, + 0.0015429853124754467, + 1.1583355423104125 + ], + "current_z": 1.1583355423104125, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.30174921371578123, + "gripper_z": 1.1514698574932167, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3321677389764284, + -0.0034562441121967352, + 1.1514698574932167 + ], + "object_minus_gripper": [ + 0.005058419987964913, + 0.004999229424672182, + 0.0068656848171957385 + ], + "object_to_gripper_xy": 0.007111955259642112, + "object_to_gripper_z": 0.0068656848171957385, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3372261589643933, + -0.022558299677841023, + 1.1583355423104125 + ], + "finger_b": [ + 0.3260193336864365, + 0.0015429853124754467, + 1.1583355423104125 + ], + "finger_midpoint": [ + 0.3316227463254149, + -0.01050765718268279, + 1.1583355423104125 + ], + "object_minus_finger_midpoint": [ + 0.0056034126389784, + 0.012050642495158236, + 0.0 + ], + "finger_gap": 0.026579406896977693, + "fingertip_max_gap": 0.09152954713978687, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013289703448488848, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1583355423104125, + "object_top_z": 1.2041017453764402, + "finger_top_clearance": 0.045766203066027744, + "fingertip_min_top_clearance": 0.01372986091980829, + "object_projection_between_fingers": 0.8222233858086319, + "object_to_finger_line_xy": 0.010161960758102247, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048264773569893435, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.196960866666066, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3365760924302512, + -0.3088307483709598, + 0.8470191607354586 + ], + "target_position": [ + 0.3284078859835636, + -0.31083218001138124, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008409835026145852, + "xy_threshold": 0.08, + "gripper_dist": 0.18985322417825967, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470191607354586, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583978999320991, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08715054290133538, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.157426613876084, + "release_required_pad_clearance": 0.05357527145066769, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1594804749839427, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007686734199523926, + "max_z_decrease": 0.007686734199523926, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500941751478243, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007686734199523926, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021310864672979084, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007686734199523926, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007686759859793237, + "max_button_displacement": 0.12, + "button_start": [ + 0.1841078102588654, + -0.36709365248680115, + 0.7768088579177856 + ], + "button_final": [ + 0.1841078102588654, + -0.36709365248680115, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18502585357738113, + -0.3673614460041984, + 0.8041179881204933 + ], + "closest_button": [ + 0.18408828973770147, + -0.3670973181724548, + 0.7691221237182617 + ], + "closest_ee_minus_button": [ + 0.0009375638396796615, + -0.0002641278317436213, + 0.03499586440223157 + ], + "button_min_z_position": [ + 0.18408828973770147, + -0.3670973181724548, + 0.7691221237182617 + ], + "min_active_finger_to_button": 0.1450559054406559, + "closest_active_finger": [ + 0.04421873390674591, + -0.35167309641838074, + 0.8080363273620605 + ], + "closest_active_finger_button": [ + 0.18411962687969213, + -0.3671006560325622, + 0.7729514837265015 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13990089297294622, + 0.015427559614181463, + 0.03508484363555908 + ], + "min_contact_pad_to_button": 0.021310864672979084, + "closest_contact_pad": [ + 0.18408828973770147, + -0.368512781542857, + 0.79038592903521 + ], + "closest_contact_pad_button": [ + 0.18408828973770147, + -0.3670973181724548, + 0.7691221237182617 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014154633704022146, + 0.02126380531694827 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8712112e2e6af1d7a5a87e6b737475232ee4abbbc400f38756901edbb0dc37c7", + "visual_seed": 4392389261510393927, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb94049750ea39a88a1cdb894f01dab6795c0f1d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_31_success.json @@ -0,0 +1,700 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3360465902902201, + 0.005400495374920244, + 1.1580976478244018 + ], + "current_z": 1.1580976478244018, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30151114041583627, + "gripper_z": 1.1512566394934918, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33108338173135754, + 0.0005093410915992802, + 1.1512566394934918 + ], + "object_minus_gripper": [ + 0.004963208558862564, + 0.004891154283320964, + 0.006841008330910059 + ], + "object_to_gripper_xy": 0.006968273058801271, + "object_to_gripper_z": 0.006841008330910059, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3360465902902201, + -0.018818280386211722, + 1.1580976478244018 + ], + "finger_b": [ + 0.3252341046673688, + 0.005400495374920244, + 1.1580976478244018 + ], + "finger_midpoint": [ + 0.33064034747879445, + -0.006708892505645739, + 1.1580976478244018 + ], + "object_minus_finger_midpoint": [ + 0.0054062428114256544, + 0.012109387880565984, + 0.0 + ], + "finger_gap": 0.02652280046888638, + "fingertip_max_gap": 0.09164369732956582, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01326140023444319, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1580976478244018, + "object_top_z": 1.2039095771622945, + "finger_top_clearance": 0.04581192933789269, + "fingertip_min_top_clearance": 0.013743578801367807, + "object_projection_between_fingers": 0.8338071521826054, + "object_to_finger_line_xy": 0.009873209468490745, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832184866478291, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2788171073464523, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33404567567963606, + -0.30772747113220533, + 0.8470197560392874 + ], + "target_position": [ + 0.32537913653828504, + -0.30962563200159937, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008871973589606088, + "xy_threshold": 0.08, + "gripper_dist": 0.1865344803258063, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197560392874, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559244583148629, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0872876147678349, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15464257181435653, + "release_required_pad_clearance": 0.053643807383917455, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2971762749199267, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00757521390914917, + "max_z_decrease": 0.00757521390914917, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035072060622897396, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00757521390914917, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021496508861821972, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00757521390914917, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007575239214222356, + "max_button_displacement": 0.12, + "button_start": [ + 0.1810790598392486, + -0.36588707566261286, + 0.7768088579177856 + ], + "button_final": [ + 0.1810790598392486, + -0.36588707566261286, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18229814870758113, + -0.3678527648317611, + 0.8042956272387197 + ], + "closest_button": [ + 0.18105995655059806, + -0.36589050292968744, + 0.7693004012107849 + ], + "closest_ee_minus_button": [ + 0.0012381921569830645, + -0.0019622619020736587, + 0.03499522602793481 + ], + "button_min_z_position": [ + 0.18105979263782493, + -0.3658905625343323, + 0.7692336440086365 + ], + "min_active_finger_to_button": 0.14459365234763444, + "closest_active_finger": [ + 0.041586920619010925, + -0.35123804211616516, + 0.8081021904945374 + ], + "closest_active_finger_button": [ + 0.18109042942523948, + -0.36589473485946655, + 0.773012638092041 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13950350880622855, + 0.014656692743301392, + 0.03508955240249634 + ], + "min_contact_pad_to_button": 0.021496508861821972, + "closest_contact_pad": [ + 0.18108934164047233, + -0.36589422821998596, + 0.7950228197825373 + ], + "closest_contact_pad_button": [ + 0.18108934164047233, + -0.36589422821998596, + 0.7735263109207153 + ], + "closest_contact_pad_index": 1, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021496508861821972 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8fb5ddce099c0d6b3ee8051687c973e83a6ae02725507240f249cc73c98a3ef4", + "visual_seed": 7428235964561695096, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c778915cdbb675e38b880f876e2efb199f6c1b12 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_32_success.json @@ -0,0 +1,700 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33948630173286104, + 0.007671856652984399, + 1.1573700502504576 + ], + "current_z": 1.1573700502504576, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.300783542841892, + "gripper_z": 1.1505113067967976, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3343724536299052, + 0.0027032652745153235, + 1.1505113067967976 + ], + "object_minus_gripper": [ + 0.0051138481029558425, + 0.004968591378469075, + 0.006858743453659999 + ], + "object_to_gripper_xy": 0.00713010117083217, + "object_to_gripper_z": 0.006858743453659999, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33948630173286104, + -0.016727420213912176, + 1.1573700502504576 + ], + "finger_b": [ + 0.32865758170937376, + 0.007671856652984399, + 1.1573700502504576 + ], + "finger_midpoint": [ + 0.3340719417211174, + -0.004527781780463889, + 1.1573700502504576 + ], + "object_minus_finger_midpoint": [ + 0.005414360011743613, + 0.012199638433448286, + 0.0 + ], + "finger_gap": 0.026694304429494855, + "fingertip_max_gap": 0.09145988151611925, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013347152214747417, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1573700502504576, + "object_top_z": 1.2031165152533099, + "finger_top_clearance": 0.04574646500285229, + "fingertip_min_top_clearance": 0.013723939500855719, + "object_projection_between_fingers": 0.8354427456936877, + "object_to_finger_line_xy": 0.00989772701008238, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04822994075805963, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2063569245683556, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3368019126565184, + -0.3033410585790146, + 0.8470196050829232 + ], + "target_position": [ + 0.32941920111737316, + -0.3045974884153199, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007488861435744828, + "xy_threshold": 0.08, + "gripper_dist": 0.18610677575024973, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196050829232, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753615638863596, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08643322931007395, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15480404481570895, + "release_required_pad_clearance": 0.05321661465503698, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4547853995973525, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007317006587982178, + "max_z_decrease": 0.007317006587982178, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035088798113922494, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007317006587982178, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021492775759059057, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007317006587982178, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00731702394610163, + "max_button_displacement": 0.12, + "button_start": [ + 0.18511912226676938, + -0.3608589470386505, + 0.7768088579177856 + ], + "button_final": [ + 0.18511912226676938, + -0.3608589470386505, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1834132604045827, + -0.36270113500027207, + 0.8081991632628452 + ], + "closest_button": [ + 0.18513014912605283, + -0.36086753010749817, + 0.7732003927230835 + ], + "closest_ee_minus_button": [ + -0.0017168887214701334, + -0.001833604892773899, + 0.03499877053976175 + ], + "button_min_z_position": [ + 0.1851034015417099, + -0.3608615696430206, + 0.7694918513298035 + ], + "min_active_finger_to_button": 0.14788124060341143, + "closest_active_finger": [ + 0.04220300912857056, + -0.3465125858783722, + 0.8083376884460449 + ], + "closest_active_finger_button": [ + 0.18513014912605283, + -0.36086753010749817, + 0.7732003927230835 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14292713999748227, + 0.014354944229125977, + 0.035137295722961426 + ], + "min_contact_pad_to_button": 0.021492775759059057, + "closest_contact_pad": [ + 0.18513014912605283, + -0.36086753010749817, + 0.7946931684821426 + ], + "closest_contact_pad_button": [ + 0.18513014912605283, + -0.36086753010749817, + 0.7732003927230835 + ], + "closest_contact_pad_index": 1, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021492775759059057 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3dfefaee483c199be7e6a9915562de93ac80d169a08ff5ddc4f4669e88dae04a", + "visual_seed": 2625310089286609637, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..584288e5e6d5dcbe333ff3073d4b3579336d4175 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_33_success.json @@ -0,0 +1,700 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3365417953758315, + 0.005598102176199088, + 1.1608280984525938 + ], + "current_z": 1.1608280984525938, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30424165064867303, + "gripper_z": 1.15395503380873, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3314175917357042, + 0.0005246332768192724, + 1.15395503380873 + ], + "object_minus_gripper": [ + 0.005124203640127334, + 0.005073468899379816, + 0.006873064643863724 + ], + "object_to_gripper_xy": 0.007210932645536807, + "object_to_gripper_z": 0.006873064643863724, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3365417953758315, + -0.01851961503512808, + 1.1608280984525938 + ], + "finger_b": [ + 0.325181015709365, + 0.005598102176199088, + 1.1608280984525938 + ], + "finger_midpoint": [ + 0.33086140554259824, + -0.006460756429464497, + 1.1608280984525938 + ], + "object_minus_finger_midpoint": [ + 0.005680389833233268, + 0.012058858605663584, + 0.0 + ], + "finger_gap": 0.026659549848329137, + "fingertip_max_gap": 0.09127039965270564, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013329774924164569, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1608280984525938, + "object_top_z": 1.2065816333913362, + "finger_top_clearance": 0.045753534938742346, + "fingertip_min_top_clearance": 0.01372606048162267, + "object_projection_between_fingers": 0.8184021718294049, + "object_to_finger_line_xy": 0.010277595565373268, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813519982635282, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.08357721955039, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33411382510115195, + -0.3055887779520479, + 0.8470195888086705 + ], + "target_position": [ + 0.3262410749861895, + -0.3070992131323335, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008016333875686937, + "xy_threshold": 0.08, + "gripper_dist": 0.18763896032939023, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195888086705, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525428135324344, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528788991347223, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15658069508697076, + "release_required_pad_clearance": 0.05264394495673612, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3471787867611076, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 162, + "max_placed_release_frames": 162 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007653355598449707, + "max_z_decrease": 0.007653355598449707, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035036718282839226, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007653355598449707, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021460206678711114, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007653355598449707, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007653372915305796, + "max_button_displacement": 0.12, + "button_start": [ + 0.18194100260734553, + -0.36336067318916315, + 0.7768088579177856 + ], + "button_final": [ + 0.18194100260734553, + -0.36336067318916315, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1818140327583034, + -0.3647494768487821, + 0.807774694153728 + ], + "closest_button": [ + 0.18195499479770655, + -0.36336770653724665, + 0.7727655172348022 + ], + "closest_ee_minus_button": [ + -0.0001409620394031419, + -0.0013817703115354685, + 0.0350091769189258 + ], + "button_min_z_position": [ + 0.18192479014396662, + -0.3633621633052826, + 0.7691555023193359 + ], + "min_active_finger_to_button": 0.14644365714880722, + "closest_active_finger": [ + 0.040824756026268005, + -0.34673991799354553, + 0.8081423044204712 + ], + "closest_active_finger_button": [ + 0.18195499479770655, + -0.36336770653724665, + 0.7727655172348022 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14113023877143854, + 0.016627788543701116, + 0.035376787185668945 + ], + "min_contact_pad_to_button": 0.021460206678711114, + "closest_contact_pad": [ + 0.18192479014396662, + -0.3663797391556038, + 0.7904024952049317 + ], + "closest_contact_pad_button": [ + 0.18192479014396662, + -0.3633621633052826, + 0.7691555023193359 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003017575850321197, + 0.021246992885595728 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "80320bad58810ed5c81c689da24b37750ef06212a6c4772574153eea05d6bcf5", + "visual_seed": 7003871052782145496, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d3be3d7db33cf6d475fb20e201ead22f0d882c5b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_34_success.json @@ -0,0 +1,700 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.337863275699697, + 0.006427256854282255, + 1.1588700013403301 + ], + "current_z": 1.1588700013403301, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30228355353640934, + "gripper_z": 1.1520029908985745, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33285816823288283, + 0.0013923189005524278, + 1.1520029908985745 + ], + "object_minus_gripper": [ + 0.0050051074668141515, + 0.0050349379537298275, + 0.006867010441755639 + ], + "object_to_gripper_xy": 0.007099415535962652, + "object_to_gripper_z": 0.006867010441755639, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.337863275699697, + -0.017558884285902642, + 1.1588700013403301 + ], + "finger_b": [ + 0.32650474015958353, + 0.006427256854282255, + 1.1588700013403301 + ], + "finger_midpoint": [ + 0.33218400792964026, + -0.005565813715810193, + 1.1588700013403301 + ], + "object_minus_finger_midpoint": [ + 0.0056792677700567284, + 0.011993070570092449, + 0.0 + ], + "finger_gap": 0.02653961748806661, + "fingertip_max_gap": 0.09143674076696826, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013269808744033305, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1588700013403301, + "object_top_z": 1.204624782681321, + "finger_top_clearance": 0.04575478134099087, + "fingertip_min_top_clearance": 0.013726434402297294, + "object_projection_between_fingers": 0.8168295703109049, + "object_to_finger_line_xy": 0.010265688144656669, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821837038348413, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.112304882651378, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3334405739394058, + -0.31116759039881176, + 0.8470193756203279 + ], + "target_position": [ + 0.3265848573019706, + -0.3121040797381735, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006919383129697591, + "xy_threshold": 0.08, + "gripper_dist": 0.18621472643912682, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193756203279, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516625356119486, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08567067360031942, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15546586116970862, + "release_required_pad_clearance": 0.05283533680015971, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7143599747169348, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007662594318389893, + "max_z_decrease": 0.007662594318389893, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503904237753406, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007662594318389893, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02121142405994834, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007662594318389893, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0076626148392331395, + "max_button_displacement": 0.12, + "button_start": [ + 0.18228478729724884, + -0.36836552619934076, + 0.7768088579177856 + ], + "button_final": [ + 0.18228478729724884, + -0.36836552619934076, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18287295884747942, + -0.3680810815656758, + 0.8075267974937294 + ], + "closest_button": [ + 0.18227362632751465, + -0.368370622396469, + 0.7724940776824951 + ], + "closest_ee_minus_button": [ + 0.0005993325199647737, + 0.00028954083079318904, + 0.035032719811234236 + ], + "button_min_z_position": [ + 0.18226774036884308, + -0.36837041378021235, + 0.7691462635993958 + ], + "min_active_finger_to_button": 0.14561330366754405, + "closest_active_finger": [ + 0.056374967098236084, + -0.43275511264801025, + 0.8109837770462036 + ], + "closest_active_finger_button": [ + 0.18228904902935028, + -0.3683675229549407, + 0.7762978076934814 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1259140819311142, + -0.06438758969306957, + 0.03468596935272217 + ], + "min_contact_pad_to_button": 0.02121142405994834, + "closest_contact_pad": [ + 0.18226774036884308, + -0.3692085801047969, + 0.7903411211800281 + ], + "closest_contact_pad_button": [ + 0.18226774036884308, + -0.36837041378021235, + 0.7691462635993958 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000838166324584555, + 0.02119485758063233 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d8456124e715eae700a6d42ec674d6cdb625091a188e4e60dc044579c8f18bb7", + "visual_seed": 6488162024763432954, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..537d7c3de156752c079dfb3b057a65e19015614e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_35_success.json @@ -0,0 +1,700 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33953528044719306, + 0.005025247299516027, + 1.1595465115269723 + ], + "current_z": 1.1595465115269723, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30296000411840673, + "gripper_z": 1.152692254015218, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33441556144487905, + -7.646243892368842e-05, + 1.152692254015218 + ], + "object_minus_gripper": [ + 0.005119719002314005, + 0.005101709738439715, + 0.00685425751175428 + ], + "object_to_gripper_xy": 0.007227652794507061, + "object_to_gripper_z": 0.00685425751175428, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33953528044719306, + -0.019007479211403448, + 1.1595465115269723 + ], + "finger_b": [ + 0.32803142322072043, + 0.005025247299516027, + 1.1595465115269723 + ], + "finger_midpoint": [ + 0.33378335183395674, + -0.0069911159559437105, + 1.1595465115269723 + ], + "object_minus_finger_midpoint": [ + 0.005751928613236312, + 0.012016363255459737, + 0.0 + ], + "finger_gap": 0.026644148975632873, + "fingertip_max_gap": 0.09123598385749923, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013322074487816436, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1595465115269723, + "object_top_z": 1.2053284890266087, + "finger_top_clearance": 0.04578197749963642, + "fingertip_min_top_clearance": 0.01373459324989089, + "object_projection_between_fingers": 0.8135839679337482, + "object_to_finger_line_xy": 0.010376351475790184, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811799192874962, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0154183105854444, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3389559660236412, + -0.3076912025951174, + 0.8470196500174427 + ], + "target_position": [ + 0.3314707530524004, + -0.30930287696458325, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007656755677049144, + "xy_threshold": 0.08, + "gripper_dist": 0.18765008517933093, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196500174427, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755864612200729, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857197177726277, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15583054467355398, + "release_required_pad_clearance": 0.05285985888631385, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7620709872942649, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007595479488372803, + "max_z_decrease": 0.007595479488372803, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500261440447252, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007595479488372803, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021252564313844213, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007595479488372803, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0075955001218563105, + "max_button_displacement": 0.12, + "button_start": [ + 0.18717068433761597, + -0.3655643463134765, + 0.7768088579177856 + ], + "button_final": [ + 0.18717068433761597, + -0.3655643463134765, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18710579751798176, + -0.36515279600627565, + 0.8042135263501595 + ], + "closest_button": [ + 0.18715302646160126, + -0.3655656278133392, + 0.7692133784294128 + ], + "closest_ee_minus_button": [ + -4.7228943619498365e-05, + 0.0004128318070635295, + 0.03500014792074668 + ], + "button_min_z_position": [ + 0.18715302646160126, + -0.3655656278133392, + 0.7692133784294128 + ], + "min_active_finger_to_button": 0.145845533768393, + "closest_active_finger": [ + 0.05996590852737427, + -0.42749524116516113, + 0.8083842992782593 + ], + "closest_active_finger_button": [ + 0.18718469142913816, + -0.36557161808013916, + 0.7730039954185486 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1272187829017639, + -0.06192362308502197, + 0.03538030385971069 + ], + "min_contact_pad_to_button": 0.021252564313844213, + "closest_contact_pad": [ + 0.18715302646160126, + -0.366407254109713, + 0.7904492715137956 + ], + "closest_contact_pad_button": [ + 0.18715302646160126, + -0.3655656278133392, + 0.7692133784294128 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008416262963737986, + 0.021235893084382784 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8eae23551c094846776c0a06e9df49acc15720d0420a5985518afe8b9a90dab4", + "visual_seed": 1619641527394464973, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1b3bc211f2ff0dfbc12b938a72f8bbcaa523eeb3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_36_success.json @@ -0,0 +1,700 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34402955044373346, + 0.00041636720083114073, + 1.1591866115674023 + ], + "current_z": 1.1591866115674023, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30260010415883676, + "gripper_z": 1.1523436230438038, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33887647843169333, + -0.004538175434272415, + 1.1523436230438038 + ], + "object_minus_gripper": [ + 0.0051530720120401274, + 0.004954542635103556, + 0.006842988523598548 + ], + "object_to_gripper_xy": 0.007148541381591785, + "object_to_gripper_z": 0.006842988523598548, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34402955044373346, + -0.024061855029632394, + 1.1591866115674023 + ], + "finger_b": [ + 0.3332903014094773, + 0.00041636720083114073, + 1.1591866115674023 + ], + "finger_midpoint": [ + 0.3386599259266054, + -0.011822743914400627, + 1.1591866115674023 + ], + "object_minus_finger_midpoint": [ + 0.00536962451712808, + 0.012239111115231767, + 0.0 + ], + "finger_gap": 0.026730410273389578, + "fingertip_max_gap": 0.09139994027334039, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013365205136694789, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1591866115674023, + "object_top_z": 1.2049670584184442, + "finger_top_clearance": 0.04578044685104188, + "fingertip_min_top_clearance": 0.01373413405531253, + "object_projection_between_fingers": 0.8385877179433825, + "object_to_finger_line_xy": 0.00983440664622012, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0481999701366702, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.170118078386593, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.331857636857927, + -0.30939330608592186, + 0.8470193873800578 + ], + "target_position": [ + 0.32383019479418973, + -0.31114640042594466, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00821663957172753, + "xy_threshold": 0.08, + "gripper_dist": 0.18643436659221407, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193873800578, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559063009312833, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08737496167600627, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15454518308547852, + "release_required_pad_clearance": 0.053687480838003135, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3831375628317883, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007525384426116943, + "max_z_decrease": 0.007525384426116943, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505485504681742, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007525384426116943, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02134589185346264, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007525384426116943, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007525407229163959, + "max_button_displacement": 0.12, + "button_start": [ + 0.17953011393547055, + -0.3674078583717346, + 0.7768088579177856 + ], + "button_final": [ + 0.17953011393547055, + -0.3674078583717346, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1794655884794741, + -0.3687936257906899, + 0.8075344709052609 + ], + "closest_button": [ + 0.17951890826225278, + -0.36741355061531067, + 0.772506833076477 + ], + "closest_ee_minus_button": [ + -5.331978277867133e-05, + -0.0013800751753792473, + 0.03502763782878382 + ], + "button_min_z_position": [ + 0.1795121282339096, + -0.3674122989177704, + 0.7692834734916687 + ], + "min_active_finger_to_button": 0.14618066716240904, + "closest_active_finger": [ + 0.03822440654039383, + -0.35352978110313416, + 0.8077691197395325 + ], + "closest_active_finger_button": [ + 0.17953899502754211, + -0.3674147427082062, + 0.7730389833450317 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14131458848714828, + 0.013884961605072021, + 0.03473013639450073 + ], + "min_contact_pad_to_button": 0.02134589185346264, + "closest_contact_pad": [ + 0.1795121282339096, + -0.37004790598689413, + 0.7904660293902591 + ], + "closest_contact_pad_button": [ + 0.1795121282339096, + -0.3674122989177704, + 0.7692834734916687 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026356070691237465, + 0.021182555898590416 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "903d2cf004984d436b2c8da2312fd9775b533853829b3602b3d3d12a881cffb0", + "visual_seed": 8603640319007477893, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9f3125c69f189b92cc6027bbf1b9efb090d49ecd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_37_success.json @@ -0,0 +1,700 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33837705926558975, + 0.004636664088048018, + 1.1577348495984718 + ], + "current_z": 1.1577348495984718, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30114834218990627, + "gripper_z": 1.1508642043040924, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33322759185154616, + -0.0003668007175108151, + 1.1508642043040924 + ], + "object_minus_gripper": [ + 0.005149467414043596, + 0.005003464805558833, + 0.006870645294379418 + ], + "object_to_gripper_xy": 0.007179949492076022, + "object_to_gripper_z": 0.006870645294379418, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33837705926558975, + -0.01962638709601091, + 1.1577348495984718 + ], + "finger_b": [ + 0.3272978943364346, + 0.004636664088048018, + 1.1577348495984718 + ], + "finger_midpoint": [ + 0.33283747680101217, + -0.007494861503981445, + 1.1577348495984718 + ], + "object_minus_finger_midpoint": [ + 0.005539582464577586, + 0.012131525592029464, + 0.0 + ], + "finger_gap": 0.026672899135408684, + "fingertip_max_gap": 0.09157000238898319, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013336449567704342, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1577348495984718, + "object_top_z": 1.2034752845114198, + "finger_top_clearance": 0.04574043491294799, + "fingertip_min_top_clearance": 0.013722130473884363, + "object_projection_between_fingers": 0.8274664295953577, + "object_to_finger_line_xy": 0.010078182517320285, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482850011944916, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1630482641808313, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 359, + "max_stable_success_frames": 359, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33691140382659274, + -0.3055941835619011, + 0.8470195530460853 + ], + "target_position": [ + 0.32975838309408856, + -0.30660677724716484, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007224337448587975, + "xy_threshold": 0.08, + "gripper_dist": 0.18501075028042482, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195530460853, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526843862745929, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08647520354963227, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15393977233398026, + "release_required_pad_clearance": 0.05323760177481614, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4961625548262603, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007402181625366211, + "max_z_decrease": 0.007402181625366211, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503463254069824, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007402181625366211, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021436510623883187, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007402181625366211, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007402199231367555, + "max_button_displacement": 0.12, + "button_start": [ + 0.18545830249786377, + -0.36286824941635126, + 0.7768088579177856 + ], + "button_final": [ + 0.18545830249786377, + -0.36286824941635126, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1854045119220035, + -0.3642394493654953, + 0.8081619734857016 + ], + "closest_button": [ + 0.18547070026397705, + -0.36287558078765864, + 0.7731539607048035 + ], + "closest_ee_minus_button": [ + -6.618834197355539e-05, + -0.0013638685778366577, + 0.03500801278089816 + ], + "button_min_z_position": [ + 0.1854422241449356, + -0.36286970973014826, + 0.7694066762924194 + ], + "min_active_finger_to_button": 0.1463787036687602, + "closest_active_finger": [ + 0.044253550469875336, + -0.3475434482097626, + 0.808500349521637 + ], + "closest_active_finger_button": [ + 0.18547070026397705, + -0.36287558078765864, + 0.7731539607048035 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14121714979410172, + 0.015332132577896063, + 0.035346388816833496 + ], + "min_contact_pad_to_button": 0.021436510623883187, + "closest_contact_pad": [ + 0.1854422241449356, + -0.3657482057207482, + 0.790649045476669 + ], + "closest_contact_pad_button": [ + 0.1854422241449356, + -0.36286970973014826, + 0.7694066762924194 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028784959905999163, + 0.0212423691842496 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "87f8e084fbe08a0b9bdddfbd7d74a59cb09b289b8500c02177afab0f88919457", + "visual_seed": 2867775467188986866, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f5e628d3f27c94b9dcdb18569c74ba6863498afb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_38_success.json @@ -0,0 +1,700 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3396382044166665, + 0.008764638391148166, + 1.158746931781471 + ], + "current_z": 1.158746931781471, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30216048397755013, + "gripper_z": 1.1519086280640334, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33451610551873445, + 0.0038523752378142456, + 1.1519086280640334 + ], + "object_minus_gripper": [ + 0.005122098897932026, + 0.00491226315333392, + 0.006838303717437544 + ], + "object_to_gripper_xy": 0.0070969166831659075, + "object_to_gripper_z": 0.006838303717437544, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3396382044166665, + -0.015700741376653, + 1.158746931781471 + ], + "finger_b": [ + 0.3289600124396691, + 0.008764638391148166, + 1.158746931781471 + ], + "finger_midpoint": [ + 0.3342991084281678, + -0.0034680514927524176, + 1.158746931781471 + ], + "object_minus_finger_midpoint": [ + 0.005339095988498688, + 0.012232689883900583, + 0.0 + ], + "finger_gap": 0.026694167735300266, + "fingertip_max_gap": 0.09120792291874943, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013347083867650133, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158746931781471, + "object_top_z": 1.2045454597299237, + "finger_top_clearance": 0.04579852794845274, + "fingertip_min_top_clearance": 0.01373955838453582, + "object_projection_between_fingers": 0.8399842693495199, + "object_to_finger_line_xy": 0.009786632965719244, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04810396145937472, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.122959350324099, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33501620276564703, + -0.30706444920979714, + 0.8470197939833493 + ], + "target_position": [ + 0.3277728699311511, + -0.3083252207017195, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00735223879550513, + "xy_threshold": 0.08, + "gripper_dist": 0.18508575698526028, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197939833493, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752392776307056, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0869316577507546, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15417283206025975, + "release_required_pad_clearance": 0.053465828875377305, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9407083151477187, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007516384124755859, + "max_z_decrease": 0.007516384124755859, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502036880941664, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007516384124755859, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021270303592329728, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007516384124755859, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007516409059380163, + "max_button_displacement": 0.12, + "button_start": [ + 0.18347279727458954, + -0.36458668112754816, + 0.7768088579177856 + ], + "button_final": [ + 0.18347279727458954, + -0.36458668112754816, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18270107441577313, + -0.3652751523523258, + 0.8062470214381402 + ], + "closest_button": [ + 0.18345801532268521, + -0.36458963155746454, + 0.7712415456771851 + ], + "closest_ee_minus_button": [ + -0.0007569409069120847, + -0.0006855207948612829, + 0.03500547576095514 + ], + "button_min_z_position": [ + 0.18345411121845243, + -0.36459174752235407, + 0.7692924737930298 + ], + "min_active_finger_to_button": 0.14681921081157154, + "closest_active_finger": [ + 0.04153496026992798, + -0.3506764769554138, + 0.807857871055603 + ], + "closest_active_finger_button": [ + 0.18348243832588193, + -0.36459529399871815, + 0.7730288505554199 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14194747805595395, + 0.013918817043304332, + 0.034829020500183105 + ], + "min_contact_pad_to_button": 0.021270303592329728, + "closest_contact_pad": [ + 0.18345411121845243, + -0.3664078279817773, + 0.7904851061607838 + ], + "closest_contact_pad_button": [ + 0.18345411121845243, + -0.36459174752235407, + 0.7692924737930298 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018160804594232194, + 0.02119263236775404 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7782b3eb08469ffa5c5b28c831366fa6e9b2d557eaf54ba1c045a71854432192", + "visual_seed": 8201079551310653019, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f9130f7abb2eeb1a9fb97d444300666ec68ea62 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_39_success.json @@ -0,0 +1,700 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3446205730285114, + 0.008110950595987956, + 1.157480917983554 + ], + "current_z": 1.157480917983554, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.3008943509703438, + "gripper_z": 1.150634360776698, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33939406856322474, + 0.003110724513811447, + 1.150634360776698 + ], + "object_minus_gripper": [ + 0.005226504465286663, + 0.005000226082176509, + 0.006846557206855897 + ], + "object_to_gripper_xy": 0.007233160429476155, + "object_to_gripper_z": 0.006846557206855897, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3446205730285114, + -0.016392053315128663, + 1.157480917983554 + ], + "finger_b": [ + 0.33378050038539264, + 0.008110950595987956, + 1.157480917983554 + ], + "finger_midpoint": [ + 0.33920053670695205, + -0.004140551359570354, + 1.157480917983554 + ], + "object_minus_finger_midpoint": [ + 0.005420036321559352, + 0.01225150195555831, + 0.0 + ], + "finger_gap": 0.026793737618635592, + "fingertip_max_gap": 0.09143359370217333, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013396868809317784, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157480917983554, + "object_top_z": 1.203255003200172, + "finger_top_clearance": 0.04577408521661819, + "fingertip_min_top_clearance": 0.01373222556498549, + "object_projection_between_fingers": 0.8363191827410656, + "object_to_finger_line_xy": 0.009913299374342877, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048216796851086666, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1966660026141305, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33934893391170845, + -0.31131155105130415, + 0.8470195678534738 + ], + "target_position": [ + 0.3321780052667011, + -0.3125186545114494, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007271816581520846, + "xy_threshold": 0.08, + "gripper_dist": 0.18473856142732872, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195678534738, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752561437683801, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598761357551225, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1537635952606346, + "release_required_pad_clearance": 0.05299380678775613, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.021048149644731, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007764279842376709, + "max_z_decrease": 0.007764279842376709, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501530902991154, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007764279842376709, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02123793731268794, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007764279842376709, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007764302664711611, + "max_button_displacement": 0.12, + "button_start": [ + 0.18787793815135956, + -0.368780106306076, + 0.7768088579177856 + ], + "button_final": [ + 0.18787793815135956, + -0.368780106306076, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1874587008782437, + -0.36798172284555347, + 0.8041164678946839 + ], + "closest_button": [ + 0.18786126375198361, + -0.36878055334091175, + 0.7691125869750977 + ], + "closest_ee_minus_button": [ + -0.00040256287373990896, + 0.0007988304953582825, + 0.03500388091958628 + ], + "button_min_z_position": [ + 0.1878591179847717, + -0.36878055334091175, + 0.7690445780754089 + ], + "min_active_finger_to_button": 0.14602866371912535, + "closest_active_finger": [ + 0.0601264089345932, + -0.429969847202301, + 0.8083288073539734 + ], + "closest_active_finger_button": [ + 0.1878926903009414, + -0.36878651380538935, + 0.7728781700134277 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277662813663482, + -0.06118333339691168, + 0.035450637340545654 + ], + "min_contact_pad_to_button": 0.02123793731268794, + "closest_contact_pad": [ + 0.1878591179847717, + -0.36927570970739365, + 0.7902767423897316 + ], + "closest_contact_pad_button": [ + 0.1878591179847717, + -0.36878055334091175, + 0.7690445780754089 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000495156366481897, + 0.02123216431432262 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f53b0af6557ea562213dc7b680e114afa99678ad75c230ebd28fe11ce1d834be", + "visual_seed": 5482989041332850224, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..15de989b7be1668f16c7764e7268e6b935584002 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_3_success.json @@ -0,0 +1,700 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34375488136472415, + 0.010428432368322024, + 1.158119792438093 + ], + "current_z": 1.158119792438093, + "required_z": 0.856586328594631, + "initial_z": 0.756586328594631, + "lift_margin": 0.301533463843462, + "gripper_z": 1.151304144837535, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3385842506309092, + 0.005378225187140748, + 1.151304144837535 + ], + "object_minus_gripper": [ + 0.005170630733814963, + 0.005050207181181276, + 0.0068156476005580835 + ], + "object_to_gripper_xy": 0.007227725420789502, + "object_to_gripper_z": 0.0068156476005580835, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34375488136472415, + -0.013884584532525147, + 1.158119792438093 + ], + "finger_b": [ + 0.33263878252650747, + 0.010428432368322024, + 1.158119792438093 + ], + "finger_midpoint": [ + 0.3381968319456158, + -0.001728076082101562, + 1.158119792438093 + ], + "object_minus_finger_midpoint": [ + 0.0055580494191083685, + 0.012156508450423585, + 0.0 + ], + "finger_gap": 0.026733694922361228, + "fingertip_max_gap": 0.09143480391041212, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013366847461180624, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158119792438093, + "object_top_z": 1.2039856799438364, + "finger_top_clearance": 0.045865887505743386, + "fingertip_min_top_clearance": 0.013759766251723015, + "object_projection_between_fingers": 0.8271032523472533, + "object_to_finger_line_xy": 0.010109560227643168, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821740195520606, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1637305930640047, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33949508712540705, + -0.30400405879859127, + 0.8470196962353298 + ], + "target_position": [ + 0.33171807771145395, + -0.3055993932386751, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007938952537988408, + "xy_threshold": 0.08, + "gripper_dist": 0.18575710123552544, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196962353298, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549988461879499, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601595130719662, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1542424625051169, + "release_required_pad_clearance": 0.05300797565359831, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0482810280038233, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007330775260925293, + "max_z_decrease": 0.007330775260925293, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501058457661572, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007330775260925293, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021274693515102115, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007330775260925293, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007330793320276851, + "max_button_displacement": 0.12, + "button_start": [ + 0.1874179989099502, + -0.36186084151268005, + 0.7768088579177856 + ], + "button_final": [ + 0.1874179989099502, + -0.36186084151268005, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18742480009246104, + -0.36184466843497, + 0.804488655446355 + ], + "closest_button": [ + 0.1874017566442489, + -0.36186182498931885, + 0.7694780826568604 + ], + "closest_ee_minus_button": [ + 2.3043448212134443e-05, + 1.7156554348862763e-05, + 0.0350105727894946 + ], + "button_min_z_position": [ + 0.1874017566442489, + -0.36186182498931885, + 0.7694780826568604 + ], + "min_active_finger_to_button": 0.14598984412028643, + "closest_active_finger": [ + 0.06003504991531372, + -0.42366498708724976, + 0.8087514638900757 + ], + "closest_active_finger_button": [ + 0.18743219971656794, + -0.36186614632606506, + 0.7732000350952148 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12739714980125422, + -0.06179884076118469, + 0.03555142879486084 + ], + "min_contact_pad_to_button": 0.021274693515102115, + "closest_contact_pad": [ + 0.1874017566442489, + -0.36315362634821735, + 0.7907135208065825 + ], + "closest_contact_pad_button": [ + 0.1874017566442489, + -0.36186182498931885, + 0.7694780826568604 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012918013588985033, + 0.021235438149722174 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3279b6a35b1659edf576ec7d13da99e6d448544761109c6c53b75d4d244063b4", + "visual_seed": 6173381731517511380, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..04fb01707f0b8f7f7b17bdf4c38f1f37316d74b2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_40_success.json @@ -0,0 +1,700 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33697940703730517, + 0.0058681215955961145, + 1.1577707773147594 + ], + "current_z": 1.1577707773147594, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3011843295108386, + "gripper_z": 1.150902665612484, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3319600437442636, + 0.0007992506422456885, + 1.150902665612484 + ], + "object_minus_gripper": [ + 0.00501936329304159, + 0.005068870953350426, + 0.0068681117022753035 + ], + "object_to_gripper_xy": 0.007133544743621713, + "object_to_gripper_z": 0.0068681117022753035, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33697940703730517, + -0.018092761350697817, + 1.1577707773147594 + ], + "finger_b": [ + 0.3255284407554629, + 0.0058681215955961145, + 1.1577707773147594 + ], + "finger_midpoint": [ + 0.33125392389638403, + -0.006112319877550851, + 1.1577707773147594 + ], + "object_minus_finger_midpoint": [ + 0.005725483140921139, + 0.011980441473146966, + 0.0 + ], + "finger_gap": 0.026556515967910553, + "fingertip_max_gap": 0.09154379809420873, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013278257983955277, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1577707773147594, + "object_top_z": 1.2035240086771901, + "finger_top_clearance": 0.0457532313624307, + "fingertip_min_top_clearance": 0.01372596940872921, + "object_projection_between_fingers": 0.8140731652956112, + "object_to_finger_line_xy": 0.010331749203574811, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827189904710437, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.209181529983607, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 361, + "max_stable_success_frames": 361, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3366059350711874, + -0.30273657605625404, + 0.8470187444782662 + ], + "target_position": [ + 0.32951011069844266, + -0.3039790527051723, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007203781767373687, + "xy_threshold": 0.08, + "gripper_dist": 0.18612482976469552, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470187444782662, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563706881639268, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08577427570071737, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15412408129944927, + "release_required_pad_clearance": 0.05288713785035869, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8117985709589103, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007413744926452637, + "max_z_decrease": 0.007413744926452637, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502902493710405, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007413744926452637, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02142710172761579, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007413744926452637, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007413769374936494, + "max_button_displacement": 0.12, + "button_start": [ + 0.18521003425121307, + -0.36024051904678334, + 0.7768088579177856 + ], + "button_final": [ + 0.18521003425121307, + -0.36024051904678334, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18558375641062877, + -0.36172715903615904, + 0.8043905419047601 + ], + "closest_button": [ + 0.18519139289855957, + -0.36024439334869374, + 0.769395112991333 + ], + "closest_ee_minus_button": [ + 0.0003923635120691993, + -0.001482765687465304, + 0.03499542891342711 + ], + "button_min_z_position": [ + 0.18519139289855957, + -0.36024439334869374, + 0.769395112991333 + ], + "min_active_finger_to_button": 0.14545549610300895, + "closest_active_finger": [ + 0.04469558596611023, + -0.3467494249343872, + 0.808185875415802 + ], + "closest_active_finger_button": [ + 0.18522073328495026, + -0.3602465689182281, + 0.7731457352638245 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14052514731884003, + 0.013497143983840887, + 0.03504014015197754 + ], + "min_contact_pad_to_button": 0.02142710172761579, + "closest_contact_pad": [ + 0.18519139289855957, + -0.362815774498617, + 0.7906673645747319 + ], + "closest_contact_pad_button": [ + 0.18519139289855957, + -0.36024439334869374, + 0.769395112991333 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025713811499232797, + 0.02127225158339885 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "068c5ceed4cb7759987e12168cd1ff9904d68a3e9bb61873fc30920a9f994738", + "visual_seed": 5128846854193451482, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4e7ced249b9df1a59db0b91ba8cd961bb06c2e8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_41_success.json @@ -0,0 +1,700 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34445519464259, + 0.0002607059201026815, + 1.1596028846186186 + ], + "current_z": 1.1596028846186186, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3030164368146978, + "gripper_z": 1.152785114369451, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33923342354772246, + -0.004949316692902911, + 1.152785114369451 + ], + "object_minus_gripper": [ + 0.005221771094867544, + 0.005210022613005592, + 0.006817770249167632 + ], + "object_to_gripper_xy": 0.0073763967487672335, + "object_to_gripper_z": 0.006817770249167632, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34445519464259, + -0.023869581320882252, + 1.1596028846186186 + ], + "finger_b": [ + 0.3328180543476765, + 0.0002607059201026815, + 1.1596028846186186 + ], + "finger_midpoint": [ + 0.3386366244951332, + -0.011804437700389785, + 1.1596028846186186 + ], + "object_minus_finger_midpoint": [ + 0.005818570147456792, + 0.012065143620492467, + 0.0 + ], + "finger_gap": 0.026789807699495353, + "fingertip_max_gap": 0.09150198572039084, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013394903849747689, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1596028846186186, + "object_top_z": 1.2054802936708326, + "finger_top_clearance": 0.045877409052214047, + "fingertip_min_top_clearance": 0.013763222715664247, + "object_projection_between_fingers": 0.811308060778019, + "object_to_finger_line_xy": 0.010481879568892656, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825099286019542, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2790823694340803, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3388977918613282, + -0.3043019634535317, + 0.8470194612979982 + ], + "target_position": [ + 0.3307248328851247, + -0.3063386852536656, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00842291482313844, + "xy_threshold": 0.08, + "gripper_dist": 0.18699032747848748, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194612979982, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567097423220544, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0852906753547276, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15505573413778734, + "release_required_pad_clearance": 0.052645337677363804, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3494257200394704, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007702946662902832, + "max_z_decrease": 0.007702946662902832, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505188789011261, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007702946662902832, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021460204433300413, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007702946662902832, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007702973943729534, + "max_button_displacement": 0.12, + "button_start": [ + 0.18642476201057434, + -0.3626001477241516, + 0.7768088579177856 + ], + "button_final": [ + 0.18642476201057434, + -0.3626001477241516, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18719540264873522, + -0.3644157983499218, + 0.8044659546836115 + ], + "closest_button": [ + 0.1864091157913208, + -0.36260548233985895, + 0.769469678401947 + ], + "closest_ee_minus_button": [ + 0.0007862868574144144, + -0.0018103160100628735, + 0.03499627628166446 + ], + "button_min_z_position": [ + 0.18640463054180145, + -0.36260402202606196, + 0.7691059112548828 + ], + "min_active_finger_to_button": 0.14503767521582656, + "closest_active_finger": [ + 0.04628067463636398, + -0.3497965335845947, + 0.8079783320426941 + ], + "closest_active_finger_button": [ + 0.18643677234649658, + -0.3626061975955963, + 0.7729339599609375 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1401560977101326, + 0.012809664011001587, + 0.03504437208175659 + ], + "min_contact_pad_to_button": 0.021460204433300413, + "closest_contact_pad": [ + 0.18640463054180145, + -0.3654656020327607, + 0.7903744733638809 + ], + "closest_contact_pad_button": [ + 0.18640463054180145, + -0.36260402202606196, + 0.7691059112548828 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0028615800066987274, + 0.02126856210899808 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "57ab901fe732e890fa13d713bbf6ca1fbb8ddb0c085afcb982e275a8a68e15a4", + "visual_seed": 5251596177984950175, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6dec07ad56a03e7b720585432c332167bbda6184 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_42_success.json @@ -0,0 +1,700 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34432912680661965, + 0.006472500516670324, + 1.1587869037032519 + ], + "current_z": 1.1587869037032519, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.3022003962946862, + "gripper_z": 1.151959735264947, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33911076142489904, + 0.0013502065590986767, + 1.151959735264947 + ], + "object_minus_gripper": [ + 0.005218365381720602, + 0.005122293957571647, + 0.006827168438304776 + ], + "object_to_gripper_xy": 0.00731226590359753, + "object_to_gripper_z": 0.006827168438304776, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34432912680661965, + -0.01766506474780037, + 1.1587869037032519 + ], + "finger_b": [ + 0.3328356660565637, + 0.006472500516670324, + 1.1587869037032519 + ], + "finger_midpoint": [ + 0.33858239643159166, + -0.005596282115565024, + 1.1587869037032519 + ], + "object_minus_finger_midpoint": [ + 0.005746730375027986, + 0.012068782632235348, + 0.0 + ], + "finger_gap": 0.026734279435018618, + "fingertip_max_gap": 0.09169243034108068, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013367139717509309, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1587869037032519, + "object_top_z": 1.204633704688934, + "finger_top_clearance": 0.04584680098568206, + "fingertip_min_top_clearance": 0.013754040295704617, + "object_projection_between_fingers": 0.8151733176923905, + "object_to_finger_line_xy": 0.010377095056682818, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048346215170540344, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.357328841117381, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33817004135708695, + -0.3091849313863728, + 0.8470193161946719 + ], + "target_position": [ + 0.32992014475848613, + -0.3112929586170463, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00851496169650024, + "xy_threshold": 0.08, + "gripper_dist": 0.1868258922085537, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470193161946719, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569034143547017, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592603265584824, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15479333165694115, + "release_required_pad_clearance": 0.05296301632792412, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9602103584458892, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007785916328430176, + "max_z_decrease": 0.007785916328430176, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502556351598815, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007785916328430176, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021401318366713332, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007785916328430176, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007785934265006693, + "max_button_displacement": 0.12, + "button_start": [ + 0.18562006950378418, + -0.36755442619323725, + 0.7768088579177856 + ], + "button_final": [ + 0.18562006950378418, + -0.36755442619323725, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1857554728797076, + -0.3690113264909504, + 0.8060127802130355 + ], + "closest_button": [ + 0.18560540676116943, + -0.36755734682083124, + 0.7710177302360535 + ], + "closest_ee_minus_button": [ + 0.00015006611853815577, + -0.0014539796701191765, + 0.034995049976981996 + ], + "button_min_z_position": [ + 0.1856038123369217, + -0.3675583004951477, + 0.7690229415893555 + ], + "min_active_finger_to_button": 0.145900008146631, + "closest_active_finger": [ + 0.04462087154388428, + -0.3541257083415985, + 0.8077946901321411 + ], + "closest_active_finger_button": [ + 0.18562988936901093, + -0.3675599098205566, + 0.7728262543678284 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14100901782512665, + 0.013434201478958074, + 0.034968435764312744 + ], + "min_contact_pad_to_button": 0.021401318366713332, + "closest_contact_pad": [ + 0.1856038123369217, + -0.3701637711531997, + 0.7902650683774963 + ], + "closest_contact_pad_button": [ + 0.1856038123369217, + -0.3675583004951477, + 0.7690229415893555 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026054706580520004, + 0.021242126788140858 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "95ca80c00b2e946b8b81cb0a94cd37526c8b5e44f19616010ec86bfd3fb4c19f", + "visual_seed": 3512242214748159039, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c716e17463bb817953f563bb12ce5b15e4ee623d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_43_success.json @@ -0,0 +1,700 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3384081704522443, + 0.008495677339601462, + 1.1585778319755506 + ], + "current_z": 1.1585778319755506, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.3019914437762746, + "gripper_z": 1.1517480406025788, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33327760225790404, + 0.0035136825672490435, + 1.1517480406025788 + ], + "object_minus_gripper": [ + 0.005130568194340268, + 0.004981994772352418, + 0.006829791372971794 + ], + "object_to_gripper_xy": 0.007151433556184576, + "object_to_gripper_z": 0.006829791372971794, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3384081704522443, + -0.015880822365575854, + 1.1585778319755506 + ], + "finger_b": [ + 0.3275044046077385, + 0.008495677339601462, + 1.1585778319755506 + ], + "finger_midpoint": [ + 0.3329562875299914, + -0.003692572512987196, + 1.1585778319755506 + ], + "object_minus_finger_midpoint": [ + 0.005451882922252904, + 0.012188249852588658, + 0.0 + ], + "finger_gap": 0.026704041781504186, + "fingertip_max_gap": 0.09175964537953082, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013352020890752093, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1585778319755506, + "object_top_z": 1.2044028419791255, + "finger_top_clearance": 0.04582501000357486, + "fingertip_min_top_clearance": 0.013747503001072492, + "object_projection_between_fingers": 0.8332756490303592, + "object_to_finger_line_xy": 0.009953386347605776, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048379822689765414, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4485347112073377, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33581902581464723, + -0.3034535936951268, + 0.8470197212126646 + ], + "target_position": [ + 0.32807094440872403, + -0.3051050078651381, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00792211677733464, + "xy_threshold": 0.08, + "gripper_dist": 0.1862100746305343, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197212126646, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549808087205315, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08719497494146942, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15460810174827122, + "release_required_pad_clearance": 0.053597487470734714, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2029015166649786, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007299840450286865, + "max_z_decrease": 0.007299840450286865, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350621225417664, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007299840450286865, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021228657534672304, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007299840450286865, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007299861676784979, + "max_button_displacement": 0.12, + "button_start": [ + 0.18377086520195005, + -0.36136648058891296, + 0.7768088579177856 + ], + "button_final": [ + 0.18377086520195005, + -0.36136648058891296, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1822363732113892, + -0.3619211770679774, + 0.8064522862241547 + ], + "closest_button": [ + 0.18375755846500397, + -0.3613701462745666, + 0.7714275121688843 + ], + "closest_ee_minus_button": [ + -0.0015211852536147763, + -0.0005510307934107894, + 0.03502477405527038 + ], + "button_min_z_position": [ + 0.18375399708747864, + -0.3613715171813965, + 0.7695090174674988 + ], + "min_active_finger_to_button": 0.14754586316078439, + "closest_active_finger": [ + 0.0409928634762764, + -0.3480963706970215, + 0.8079105019569397 + ], + "closest_active_finger_button": [ + 0.1837794780731201, + -0.36137628555297846, + 0.773191511631012 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1427866145968437, + 0.013279914855956976, + 0.034718990325927734 + ], + "min_contact_pad_to_button": 0.021228657534672304, + "closest_contact_pad": [ + 0.18375399708747864, + -0.362986791975312, + 0.790676133191294 + ], + "closest_contact_pad_button": [ + 0.18375399708747864, + -0.3613715171813965, + 0.7695090174674988 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016152747939154888, + 0.02116711572379526 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7367f032117ed002b5dcf5ad16e3a5fd6ae5cf28b2fe23acdc82f0436ff62cf7", + "visual_seed": 7206371027294680583, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..49f8dd24392140910cb4e20cce0d360e639535de --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_44_success.json @@ -0,0 +1,700 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3414373151984952, + 0.009979428769521057, + 1.157461711085416 + ], + "current_z": 1.157461711085416, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.3008751440722055, + "gripper_z": 1.1505985448574874, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33631966617777964, + 0.004976531808048315, + 1.1505985448574874 + ], + "object_minus_gripper": [ + 0.005117649020715542, + 0.005002896961472741, + 0.0068631662279285965 + ], + "object_to_gripper_xy": 0.007156766693580554, + "object_to_gripper_z": 0.0068631662279285965, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3414373151984952, + -0.014241827640867132, + 1.157461711085416 + ], + "finger_b": [ + 0.33032197019147547, + 0.009979428769521057, + 1.157461711085416 + ], + "finger_midpoint": [ + 0.3358796426949853, + -0.002131199435673038, + 1.157461711085416 + ], + "object_minus_finger_midpoint": [ + 0.005557672503509858, + 0.012110628205194094, + 0.0 + ], + "finger_gap": 0.026649956036039705, + "fingertip_max_gap": 0.09149800887902801, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013324978018019852, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.157461711085416, + "object_top_z": 1.2032435803684727, + "finger_top_clearance": 0.04578186928305672, + "fingertip_min_top_clearance": 0.013734560784917015, + "object_projection_between_fingers": 0.8260385973904544, + "object_to_finger_line_xy": 0.010102366440712563, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04824900443951401, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.182478364929932, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3372103038576297, + -0.3056371235594072, + 0.8470186684308714 + ], + "target_position": [ + 0.32947656517831353, + -0.30732681101410286, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007916170643341805, + "xy_threshold": 0.08, + "gripper_dist": 0.18589544533177604, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470186684308714, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567304934187992, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08673919011488233, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1539923713103729, + "release_required_pad_clearance": 0.05336959505744117, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7520658188248348, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007570326328277588, + "max_z_decrease": 0.007570326328277588, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502641375889629, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007570326328277588, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021310777574439353, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007570326328277588, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007570351045576057, + "max_button_displacement": 0.12, + "button_start": [ + 0.18517649173736572, + -0.36358827352523804, + 0.7768088579177856 + ], + "button_final": [ + 0.18517649173736572, + -0.36358827352523804, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18515436079045988, + -0.36463462228648547, + 0.8075070484090019 + ], + "closest_button": [ + 0.1851648986339569, + -0.36359378695487976, + 0.7724961042404175 + ], + "closest_ee_minus_button": [ + -1.0537843497027133e-05, + -0.001040835331605705, + 0.03501094416858441 + ], + "button_min_z_position": [ + 0.18515780568122864, + -0.36359328031539917, + 0.7692385315895081 + ], + "min_active_finger_to_button": 0.14620078126175395, + "closest_active_finger": [ + 0.04376426339149475, + -0.350822776556015, + 0.8078452348709106 + ], + "closest_active_finger_button": [ + 0.18518483638763428, + -0.3635938167572021, + 0.7730344533920288 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14142057299613953, + 0.012771040201187078, + 0.034810781478881836 + ], + "min_contact_pad_to_button": 0.021310777574439353, + "closest_contact_pad": [ + 0.18515780568122864, + -0.3657615657131198, + 0.790438715061857 + ], + "closest_contact_pad_button": [ + 0.18515780568122864, + -0.36359328031539917, + 0.7692385315895081 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021682853977206262, + 0.021200183472348977 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cbb71674d7ae55eed31eece98b62ee86edfe405a361970e2b0bcc8fb94466c54", + "visual_seed": 8490531026409402260, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dc94cee61abc938aedef3270e7fe2403214c6738 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_45_success.json @@ -0,0 +1,700 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3447224755533866, + 0.00614462424527735, + 1.1577441738178025 + ], + "current_z": 1.1577441738178025, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.3011576664092368, + "gripper_z": 1.1509045878404267, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33956713486663503, + 0.0012117123054674744, + 1.1509045878404267 + ], + "object_minus_gripper": [ + 0.005155340686751553, + 0.004932911939809876, + 0.006839585977375773 + ], + "object_to_gripper_xy": 0.007135205519282174, + "object_to_gripper_z": 0.006839585977375773, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3447224755533866, + -0.018309426269700724, + 1.1577441738178025 + ], + "finger_b": [ + 0.3339640747872026, + 0.00614462424527735, + 1.1577441738178025 + ], + "finger_midpoint": [ + 0.3393432751702946, + -0.006082401012211687, + 1.1577441738178025 + ], + "object_minus_finger_midpoint": [ + 0.0053792003830919755, + 0.012227025257489036, + 0.0 + ], + "finger_gap": 0.026715983486200315, + "fingertip_max_gap": 0.09138014475662112, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013357991743100145, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1577441738178025, + "object_top_z": 1.203544045931683, + "finger_top_clearance": 0.04579987211388059, + "fingertip_min_top_clearance": 0.013739961634164176, + "object_projection_between_fingers": 0.8378365019475044, + "object_to_finger_line_xy": 0.00984753100826459, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048190072378310564, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.219849525190949, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3352364702660575, + -0.3110813571461115, + 0.847019485073682 + ], + "target_position": [ + 0.326941421159568, + -0.31311453389572313, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008540588233502079, + "xy_threshold": 0.08, + "gripper_dist": 0.1884019357789198, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019485073682, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753979463530129, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08731326465207044, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15700633266353548, + "release_required_pad_clearance": 0.05365663232603522, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3219168005346655, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007830560207366943, + "max_z_decrease": 0.007830560207366943, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035082719232490046, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007830560207366943, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021347864191597538, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 119, + "max_z_decrease_with_contact_point": 0.007830560207366943, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007830584526945822, + "max_button_displacement": 0.12, + "button_start": [ + 0.18264134228229523, + -0.3693760037422179, + 0.7768088579177856 + ], + "button_final": [ + 0.18264134228229523, + -0.3693760037422179, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18381255935428478, + -0.3708785819879888, + 0.8072767727588556 + ], + "closest_button": [ + 0.18262922763824466, + -0.36938121914863575, + 0.7722460031509399 + ], + "closest_ee_minus_button": [ + 0.0011833317160401258, + -0.0014973628393530336, + 0.035030769607915624 + ], + "button_min_z_position": [ + 0.18262240290641785, + -0.36938071250915516, + 0.7689782977104187 + ], + "min_active_finger_to_button": 0.14499069028593203, + "closest_active_finger": [ + 0.042439088225364685, + -0.35688862204551697, + 0.8075343370437622 + ], + "closest_active_finger_button": [ + 0.18265217542648315, + -0.3693846762180327, + 0.7728005051612854 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14021308720111847, + 0.012496054172515758, + 0.03473383188247681 + ], + "min_contact_pad_to_button": 0.021347864191597538, + "closest_contact_pad": [ + 0.18262240290641785, + -0.37197686486025033, + 0.7901677124855557 + ], + "closest_contact_pad_button": [ + 0.18262240290641785, + -0.36938071250915516, + 0.7689782977104187 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002596152351095171, + 0.021189414775137028 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eb66958c0e58b4d6283a1d78b01969e1eabfe21811f73d1a246ad41293e7e4f4", + "visual_seed": 3488216085999617591, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..51eaa68bb3a467e55d8d5d2a42954b3a20424f4e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_46_success.json @@ -0,0 +1,700 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34228405133930917, + 0.008185003030134341, + 1.158839601857766 + ], + "current_z": 1.158839601857766, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30225309444920045, + "gripper_z": 1.1520007406416983, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3372158832550842, + 0.003052477619675406, + 1.1520007406416983 + ], + "object_minus_gripper": [ + 0.005068168084224944, + 0.005132525410458935, + 0.006838861216067693 + ], + "object_to_gripper_xy": 0.0072131230974497446, + "object_to_gripper_z": 0.006838861216067693, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34228405133930917, + -0.01583676975025829, + 1.158839601857766 + ], + "finger_b": [ + 0.33075984600898944, + 0.008185003030134341, + 1.158839601857766 + ], + "finger_midpoint": [ + 0.3365219486741493, + -0.0038258833600619746, + 1.158839601857766 + ], + "object_minus_finger_midpoint": [ + 0.005762102665159863, + 0.012010886390196315, + 0.0 + ], + "finger_gap": 0.026643064313404, + "fingertip_max_gap": 0.09122955625589277, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013321532156702, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158839601857766, + "object_top_z": 1.2046657830763543, + "finger_top_clearance": 0.04582618121858828, + "fingertip_min_top_clearance": 0.01374785436557645, + "object_projection_between_fingers": 0.8129086843428682, + "object_to_finger_line_xy": 0.010390390484485566, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811477812794639, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0825652058626893, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.333297541095356, + -0.30623325643377425, + 0.8470196020974681 + ], + "target_position": [ + 0.32502102539878897, + -0.3081181953094698, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008488445478450611, + "xy_threshold": 0.08, + "gripper_dist": 0.18791564804748798, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196020974681, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531810744325881, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08547816289191633, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15663509818971696, + "release_required_pad_clearance": 0.052739081445958166, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5293397631251979, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007586002349853516, + "max_z_decrease": 0.007586002349853516, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505479468330732, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007586002349853516, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021204717910814352, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007586002349853516, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007586028107327223, + "max_button_displacement": 0.12, + "button_start": [ + 0.1807209551334381, + -0.3643796443939208, + 0.7768088579177856 + ], + "button_final": [ + 0.1807209551334381, + -0.3643796443939208, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17956276451838854, + -0.36292066220659225, + 0.805783136943164 + ], + "closest_button": [ + 0.1807042956352234, + -0.3643844127655028, + 0.7707775235176086 + ], + "closest_ee_minus_button": [ + -0.0011415311168348485, + 0.0014637505589105704, + 0.035005613425555304 + ], + "button_min_z_position": [ + 0.18070197105407715, + -0.3643851578235625, + 0.7692228555679321 + ], + "min_active_finger_to_button": 0.14644204839796648, + "closest_active_finger": [ + 0.05268096178770065, + -0.42636072635650635, + 0.8075417876243591 + ], + "closest_active_finger_button": [ + 0.18073040246963504, + -0.3643856346607207, + 0.7727897763252258 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12804944068193438, + -0.061975091695785633, + 0.0347520112991333 + ], + "min_contact_pad_to_button": 0.021204717910814352, + "closest_contact_pad": [ + 0.18070197105407715, + -0.3643851578235625, + 0.7904275734787465 + ], + "closest_contact_pad_button": [ + 0.18070197105407715, + -0.3643851578235625, + 0.7692228555679321 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021204717910814352 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ae3a3ad56f3d5f2c64bba9206752109d74630d22a95555d6259e822f6e3b1fe5", + "visual_seed": 8230808917503992707, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7ff22e4eec05449cdfa9ca1c19465fa6ffad2f15 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_47_success.json @@ -0,0 +1,700 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.336871733639659, + 0.0017553916603543574, + 1.1595207436341788 + ], + "current_z": 1.1595207436341788, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.30293423622561344, + "gripper_z": 1.1526310081887918, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3317098284282149, + -0.003204503877385703, + 1.1526310081887918 + ], + "object_minus_gripper": [ + 0.005161905211444107, + 0.004959895537740061, + 0.0068897354453869575 + ], + "object_to_gripper_xy": 0.007158619221416068, + "object_to_gripper_z": 0.0068897354453869575, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.336871733639659, + -0.022480148894592024, + 1.1595207436341788 + ], + "finger_b": [ + 0.3258028647251313, + 0.0017553916603543574, + 1.1595207436341788 + ], + "finger_midpoint": [ + 0.3313372991823952, + -0.010362378617118834, + 1.1595207436341788 + ], + "object_minus_finger_midpoint": [ + 0.005534434457263815, + 0.01211777027747319, + 0.0 + ], + "finger_gap": 0.026643597449245625, + "fingertip_max_gap": 0.0914763675737619, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0133217987246228, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1595207436341788, + "object_top_z": 1.2052296817642467, + "finger_top_clearance": 0.04570893813006793, + "fingertip_min_top_clearance": 0.01371268143902038, + "object_projection_between_fingers": 0.8274079601344413, + "object_to_finger_line_xy": 0.010068460987163613, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04823818378688095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1709024932782295, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3354000987574673, + -0.30608567191242225, + 0.8470196529766763 + ], + "target_position": [ + 0.32772612609205765, + -0.307486071166054, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007800703464369525, + "xy_threshold": 0.08, + "gripper_dist": 0.18786999494789902, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470196529766763, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522256258763624, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08635374936345001, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15692819662390842, + "release_required_pad_clearance": 0.05317687468172501, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3774048305457443, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 162, + "max_placed_release_frames": 162 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007306873798370361, + "max_z_decrease": 0.007306873798370361, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504548655993697, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007306873798370361, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021267928034295336, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007306873798370361, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007306898290892168, + "max_button_displacement": 0.12, + "button_start": [ + 0.18342605233192438, + -0.3637475371360778, + 0.7768088579177856 + ], + "button_final": [ + 0.18342605233192438, + -0.3637475371360778, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18199715897564747, + -0.362510946574204, + 0.8077746809780549 + ], + "closest_button": [ + 0.18341676890850062, + -0.3637515306472778, + 0.7727799415588379 + ], + "closest_ee_minus_button": [ + -0.0014196099328531442, + 0.0012405840730737583, + 0.03499473941921705 + ], + "button_min_z_position": [ + 0.1834076195955276, + -0.3637517988681793, + 0.7695019841194153 + ], + "min_active_finger_to_button": 0.1470371518937989, + "closest_active_finger": [ + 0.054692722856998444, + -0.4255931079387665, + 0.8081281185150146 + ], + "closest_active_finger_button": [ + 0.18343612551689142, + -0.36375442147254944, + 0.7731847763061523 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12874340265989298, + -0.06183868646621704, + 0.034943342208862305 + ], + "min_contact_pad_to_button": 0.021267928034295336, + "closest_contact_pad": [ + 0.1834076195955276, + -0.3639086898740153, + 0.790769333462581 + ], + "closest_contact_pad_button": [ + 0.1834076195955276, + -0.3637517988681793, + 0.7695019841194153 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001568910058359907, + 0.021267349343165765 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "26306ed6e2b99c88b8f44487792f503c7320e2c81604e577dff292682c54bea5", + "visual_seed": 5506327543830705838, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..036143ea73fff10bd5206e36957871f2c33afa65 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_48_success.json @@ -0,0 +1,700 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3362716593785424, + 0.008140222640944165, + 1.1599725530274476 + ], + "current_z": 1.1599725530274476, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.3033861052235267, + "gripper_z": 1.1530893260935304, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33111310120845794, + 0.0031058434891497733, + 1.1530893260935304 + ], + "object_minus_gripper": [ + 0.005158558170084482, + 0.005034379151794392, + 0.006883226933917186 + ], + "object_to_gripper_xy": 0.0072080299554155135, + "object_to_gripper_z": 0.006883226933917186, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3362716593785424, + -0.016064672879356992, + 1.1599725530274476 + ], + "finger_b": [ + 0.325056068532772, + 0.008140222640944165, + 1.1599725530274476 + ], + "finger_midpoint": [ + 0.3306638639556572, + -0.003962225119206414, + 1.1599725530274476 + ], + "object_minus_finger_midpoint": [ + 0.005607795422885198, + 0.012102447760150578, + 0.0 + ], + "finger_gap": 0.02667707714815144, + "fingertip_max_gap": 0.09150066813443361, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01333853857407572, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1599725530274476, + "object_top_z": 1.2057060560499782, + "finger_top_clearance": 0.04573350302253054, + "fingertip_min_top_clearance": 0.013720050906759162, + "object_projection_between_fingers": 0.8232465800885705, + "object_to_finger_line_xy": 0.010176234941807707, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825033406721681, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1567732788816094, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33598079485672905, + -0.307219525579844, + 0.8470195651169686 + ], + "target_position": [ + 0.3286507147840042, + -0.30832146712958997, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007412445551342308, + "xy_threshold": 0.08, + "gripper_dist": 0.18721944465878287, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195651169686, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520536416894474, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08596738968140842, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15629856769713765, + "release_required_pad_clearance": 0.05298369484070421, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0017009264047687, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 162, + "max_placed_release_frames": 162 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007299661636352539, + "max_z_decrease": 0.007299661636352539, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035002000175969834, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007299661636352539, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02128907687525668, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007299661636352539, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007299679314212774, + "max_button_displacement": 0.12, + "button_start": [ + 0.1843506395816803, + -0.3645829260349273, + 0.7768088579177856 + ], + "button_final": [ + 0.1843506395816803, + -0.3645829260349273, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18410081459838615, + -0.3646745606551439, + 0.804510299147431 + ], + "closest_button": [ + 0.18433463573455808, + -0.3645843267440795, + 0.7695091962814331 + ], + "closest_ee_minus_button": [ + -0.00023382113617193, + -9.023391106444123e-05, + 0.03500110286599789 + ], + "button_min_z_position": [ + 0.18433463573455808, + -0.3645843267440795, + 0.7695091962814331 + ], + "min_active_finger_to_button": 0.14620870540691802, + "closest_active_finger": [ + 0.056562796235084534, + -0.42616909742355347, + 0.8086130619049072 + ], + "closest_active_finger_button": [ + 0.1843639463186264, + -0.3645891845226287, + 0.7732327580451965 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12780115008354187, + -0.061579912900924794, + 0.03538030385971069 + ], + "min_contact_pad_to_button": 0.02128907687525668, + "closest_contact_pad": [ + 0.18433463573455808, + -0.3660110121215661, + 0.7907504147736537 + ], + "closest_contact_pad_button": [ + 0.18433463573455808, + -0.3645843267440795, + 0.7695091962814331 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014266853774866362, + 0.021241218492220604 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8d26b80a3ffe43e9d2b4cd2761c5b2d8140a1d3a340235bf0be09d241d944303", + "visual_seed": 5494698725128567993, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af0fc82937979a249c266515599faa05bd2e7454 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_49_success.json @@ -0,0 +1,700 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3447418273048222, + -0.0001676033742799496, + 1.158104852174396 + ], + "current_z": 1.158104852174396, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.3015182851611856, + "gripper_z": 1.151276058700906, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33957811686757267, + -0.0051169032144793986, + 1.151276058700906 + ], + "object_minus_gripper": [ + 0.005163710437249558, + 0.004949299840199449, + 0.006828793473489858 + ], + "object_to_gripper_xy": 0.007152585154191337, + "object_to_gripper_z": 0.006828793473489858, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3447418273048222, + -0.024488665169088895, + 1.158104852174396 + ], + "finger_b": [ + 0.33378861324406833, + -0.0001676033742799496, + 1.158104852174396 + ], + "finger_midpoint": [ + 0.3392652202744453, + -0.012328134271684422, + 1.158104852174396 + ], + "object_minus_finger_midpoint": [ + 0.005476607030376945, + 0.012160530897404473, + 0.0 + ], + "finger_gap": 0.026673712622872957, + "fingertip_max_gap": 0.09141063516977957, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013336856311436478, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158104852174396, + "object_top_z": 1.2039420517323807, + "finger_top_clearance": 0.04583719955798471, + "fingertip_min_top_clearance": 0.013751159867395413, + "object_projection_between_fingers": 0.8313772317411623, + "object_to_finger_line_xy": 0.009987128518244983, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04820531758488979, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1650183740429085, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3355743763383967, + -0.30625210718205886, + 0.847019213561932 + ], + "target_position": [ + 0.3276345067535123, + -0.3078870873396009, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008106459716826372, + "xy_threshold": 0.08, + "gripper_dist": 0.18655232160494953, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847019213561932, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533063042826983, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864990490406513, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15550985206406298, + "release_required_pad_clearance": 0.05324952452032565, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5164264905883433, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007367551326751709, + "max_z_decrease": 0.007367551326751709, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504897579713715, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007367551326751709, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02122928413911809, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007367551326751709, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00736757957250339, + "max_button_displacement": 0.12, + "button_start": [ + 0.1833344399929046, + -0.36414855718612665, + 0.7768088579177856 + ], + "button_final": [ + 0.1833344399929046, + -0.36414855718612665, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18133780451435222, + -0.36403135077377496, + 0.8076677032373468 + ], + "closest_button": [ + 0.1833252757787704, + -0.3641532361507415, + 0.7726753354072571 + ], + "closest_ee_minus_button": [ + -0.0019874712644181725, + 0.00012188537696655732, + 0.03499236783008974 + ], + "button_min_z_position": [ + 0.18331474065780634, + -0.36415386199951166, + 0.7694413065910339 + ], + "min_active_finger_to_button": 0.14795766259950546, + "closest_active_finger": [ + 0.0543287917971611, + -0.4276963472366333, + 0.8112649321556091 + ], + "closest_active_finger_button": [ + 0.18333801627159113, + -0.36415079236030573, + 0.7764791250228882 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12900922447443003, + -0.06354555487632757, + 0.03478580713272095 + ], + "min_contact_pad_to_button": 0.02122928413911809, + "closest_contact_pad": [ + 0.18331474065780634, + -0.36531363547566137, + 0.7906388873620425 + ], + "closest_contact_pad_button": [ + 0.18331474065780634, + -0.36415386199951166, + 0.7694413065910339 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011597734761497058, + 0.02119758077100853 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ea3684a67dfb88f72b019637d67343591f5666c9b826ff849edbbfc5d82be10f", + "visual_seed": 552210010963646233, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b8aeabd2395a51d2593bdc34efb3baf32555e3be --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_4_success.json @@ -0,0 +1,700 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3455749366472176, + 0.00839871855754477, + 1.1601473177792647 + ], + "current_z": 1.1601473177792647, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.3035608699753439, + "gripper_z": 1.1533026169314364, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34037652337976415, + 0.003404680223014739, + 1.1533026169314364 + ], + "object_minus_gripper": [ + 0.005198413267453461, + 0.004994038334530031, + 0.006844700847828289 + ], + "object_to_gripper_xy": 0.007208600376355431, + "object_to_gripper_z": 0.006844700847828289, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3455749366472176, + -0.016089297811491952, + 1.1601473177792647 + ], + "finger_b": [ + 0.3347482055471417, + 0.00839871855754477, + 1.1601473177792647 + ], + "finger_midpoint": [ + 0.34016157109717965, + -0.003845289626973591, + 1.1601473177792647 + ], + "object_minus_finger_midpoint": [ + 0.005413365550037963, + 0.012244008184518361, + 0.0 + ], + "finger_gap": 0.02677463448870146, + "fingertip_max_gap": 0.09138795471421887, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01338731724435073, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1601473177792647, + "object_top_z": 1.205929607698915, + "finger_top_clearance": 0.045782289919650276, + "fingertip_min_top_clearance": 0.013734686975895116, + "object_projection_between_fingers": 0.8364887647877616, + "object_to_finger_line_xy": 0.009902102249563746, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819397735710944, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1689374760886269, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3343078831598615, + -0.3065099438510278, + 0.8470197171068645 + ], + "target_position": [ + 0.3264564572292087, + -0.30790730032782776, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007974803713432824, + "xy_threshold": 0.08, + "gripper_dist": 0.1877564811020317, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197171068645, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527813351802938, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08699379790852661, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15652464062945506, + "release_required_pad_clearance": 0.05349689895426331, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.006153972144909, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 162, + "max_placed_release_frames": 162 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00757068395614624, + "max_z_decrease": 0.00757068395614624, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507010661030648, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00757068395614624, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021288775842174156, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00757068395614624, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007570705262450935, + "max_button_displacement": 0.12, + "button_start": [ + 0.18215638399124146, + -0.36416876316070546, + 0.7768088579177856 + ], + "button_final": [ + 0.18215638399124146, + -0.36416876316070546, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1834868436306526, + -0.36499328490881333, + 0.8044087028209039 + ], + "closest_button": [ + 0.18213790655136108, + -0.36417376995086664, + 0.7693741321563721 + ], + "closest_ee_minus_button": [ + 0.0013489370792915123, + -0.0008195149579466876, + 0.03503457066453186 + ], + "button_min_z_position": [ + 0.18213914334774017, + -0.36417379975318903, + 0.7692381739616394 + ], + "min_active_finger_to_button": 0.144532198834168, + "closest_active_finger": [ + 0.0425199419260025, + -0.3508492410182953, + 0.807811975479126 + ], + "closest_active_finger_button": [ + 0.18216775357723236, + -0.36417570710182184, + 0.7730204463005066 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13964781165122986, + 0.013326466083526556, + 0.034791529178619385 + ], + "min_contact_pad_to_button": 0.021288775842174156, + "closest_contact_pad": [ + 0.18213914334774017, + -0.36601019333110396, + 0.7904475972325662 + ], + "closest_contact_pad_button": [ + 0.18213914334774017, + -0.36417379975318903, + 0.7692381739616394 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018363935779149299, + 0.021209423270926786 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "307163c4afa17a05dac259d0d4f1ad5f51a9fcfca58f83d14ccad8712d4ae453", + "visual_seed": 5082850729708558860, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..47653893f7795e7a91e403eb5e6a87250c7d4698 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_50_success.json @@ -0,0 +1,700 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3403319575082901, + 0.0035427564701234855, + 1.158980740016832 + ], + "current_z": 1.158980740016832, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.30239423260826626, + "gripper_z": 1.1521017161452036, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33505812030359433, + -0.0014142037278730563, + 1.1521017161452036 + ], + "object_minus_gripper": [ + 0.005273837204695764, + 0.004956960197996542, + 0.006879023871628309 + ], + "object_to_gripper_xy": 0.007237735368618774, + "object_to_gripper_z": 0.006879023871628309, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3403319575082901, + -0.020955920432608917, + 1.158980740016832 + ], + "finger_b": [ + 0.3295065688396876, + 0.0035427564701234855, + 1.158980740016832 + ], + "finger_midpoint": [ + 0.33491926317398885, + -0.008706581981242715, + 1.158980740016832 + ], + "object_minus_finger_midpoint": [ + 0.005412694334301249, + 0.0122493384513662, + 0.0 + ], + "finger_gap": 0.02678384232724613, + "fingertip_max_gap": 0.09138836752682258, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013391921163623064, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158980740016832, + "object_top_z": 1.204709840022701, + "finger_top_clearance": 0.04572910000586905, + "fingertip_min_top_clearance": 0.013718730001760715, + "object_projection_between_fingers": 0.8366416882240333, + "object_to_finger_line_xy": 0.009901779442182857, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048194183763411294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0867883745422662, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33972011435006483, + -0.30795742555259115, + 0.8470195505744643 + ], + "target_position": [ + 0.3308563590066269, + -0.3100437506126655, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00910598215705579, + "xy_threshold": 0.08, + "gripper_dist": 0.19004493825089386, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195505744643, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755211422488786, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08758320190154288, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15834164855448182, + "release_required_pad_clearance": 0.05379160095077144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5923723652026616, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 162, + "max_placed_release_frames": 162 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007443547248840332, + "max_z_decrease": 0.007443547248840332, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501345624411849, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007443547248840332, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021250341326742632, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007443547248840332, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.0074435656828773025, + "max_button_displacement": 0.12, + "button_start": [ + 0.18655627965927118, + -0.3663052022457123, + 0.7768088579177856 + ], + "button_final": [ + 0.18655627965927118, + -0.3663052022457123, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18657049696985215, + -0.36582176935573407, + 0.8043754076011262 + ], + "closest_button": [ + 0.18653972446918482, + -0.36630579829216003, + 0.7693653106689453 + ], + "closest_ee_minus_button": [ + 3.07725006673254e-05, + 0.000484028936425962, + 0.035010096932180934 + ], + "button_min_z_position": [ + 0.18653972446918482, + -0.36630579829216003, + 0.7693653106689453 + ], + "min_active_finger_to_button": 0.14579386095913857, + "closest_active_finger": [ + 0.05894837528467178, + -0.42717230319976807, + 0.8086875677108765 + ], + "closest_active_finger_button": [ + 0.18657097220420832, + -0.36631038784980774, + 0.7731326818466187 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12762259691953654, + -0.06086191534996033, + 0.03555488586425781 + ], + "min_contact_pad_to_button": 0.021250341326742632, + "closest_contact_pad": [ + 0.18653972446918482, + -0.36717688772532203, + 0.790597790733754 + ], + "closest_contact_pad_button": [ + 0.18653972446918482, + -0.36630579829216003, + 0.7693653106689453 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008710894331619978, + 0.021232480064808712 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ebcef35c2f1789442ff0f6b79261818851d604abd7389bc6b47e5b92c64d4969", + "visual_seed": 5713584156334347756, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0f56792e1a7895a4054f14f26acafaa6b3f59c98 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_51_success.json @@ -0,0 +1,700 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34353401032502134, + 0.0069758700892005, + 1.1606487372445895 + ], + "current_z": 1.1606487372445895, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.3040622298360238, + "gripper_z": 1.1538123688445225, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33837099334528586, + 0.0019010308904451462, + 1.1538123688445225 + ], + "object_minus_gripper": [ + 0.00516301697973548, + 0.005074839198755354, + 0.006836368400066961 + ], + "object_to_gripper_xy": 0.007239526036023405, + "object_to_gripper_z": 0.006836368400066961, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34353401032502134, + -0.01718056053702551, + 1.1606487372445895 + ], + "finger_b": [ + 0.33218379438355183, + 0.0069758700892005, + 1.1606487372445895 + ], + "finger_midpoint": [ + 0.3378589023542866, + -0.005102345223912504, + 1.1606487372445895 + ], + "object_minus_finger_midpoint": [ + 0.005675107970734727, + 0.012078215313113004, + 0.0 + ], + "finger_gap": 0.026690083224255007, + "fingertip_max_gap": 0.09109131098927772, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013345041612127491, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1606487372445895, + "object_top_z": 1.2064782375988747, + "finger_top_clearance": 0.045829500354285235, + "fingertip_min_top_clearance": 0.01374885010628557, + "object_projection_between_fingers": 0.8191542144337743, + "object_to_finger_line_xy": 0.010272755677795207, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048045655494638864, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9657031391241684, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3344359144793706, + -0.30319035226209523, + 0.8470195592388278 + ], + "target_position": [ + 0.3271656691110759, + -0.3044032162209066, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007370719550884693, + "xy_threshold": 0.08, + "gripper_dist": 0.18702111443828304, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195592388278, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537980555152636, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08508499227755127, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15548628222121477, + "release_required_pad_clearance": 0.05254249613877564, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.15323322434418996, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007508814334869385, + "max_z_decrease": 0.007508814334869385, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502505274360497, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007508814334869385, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021395018770409172, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007508814334869385, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007508832016115988, + "max_button_displacement": 0.12, + "button_start": [ + 0.18286558985710138, + -0.3606646656990051, + 0.7768088579177856 + ], + "button_final": [ + 0.18286558985710138, + -0.3606646656990051, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1827462904707719, + -0.36154155939617155, + 0.8078786989557125 + ], + "closest_button": [ + 0.18287992477416992, + -0.36067190766334534, + 0.7728646993637085 + ], + "closest_ee_minus_button": [ + -0.00013363430339802251, + -0.0008696517328262154, + 0.03501399959200402 + ], + "button_min_z_position": [ + 0.1828493773937225, + -0.3606663048267364, + 0.7693000435829163 + ], + "min_active_finger_to_button": 0.14651693330857649, + "closest_active_finger": [ + 0.04175412654876709, + -0.343555748462677, + 0.8083295822143555 + ], + "closest_active_finger_button": [ + 0.18287992477416992, + -0.36067190766334534, + 0.7728646993637085 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14112579822540283, + 0.017116159200668335, + 0.03546488285064697 + ], + "min_contact_pad_to_button": 0.021395018770409172, + "closest_contact_pad": [ + 0.1828493773937225, + -0.36318331199589715, + 0.7905464904175414 + ], + "closest_contact_pad_button": [ + 0.1828493773937225, + -0.3606663048267364, + 0.7693000435829163 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0025170071691607565, + 0.021246446834625177 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e3a8f1f71dc4d46d2a85c25951bed17fc54da1dc0fd7236f44daa4e1d06ec577", + "visual_seed": 2553012624073767695, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7b851e7367970c5189974ac1d530c7b829168d29 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_52_success.json @@ -0,0 +1,700 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3415829528141959, + 0.00453655126604148, + 1.1586800044367187 + ], + "current_z": 1.1586800044367187, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30209349702815314, + "gripper_z": 1.1518339342555428, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33638699829516466, + -0.0004215919122413647, + 1.1518339342555428 + ], + "object_minus_gripper": [ + 0.0051959545190312095, + 0.004958143178282845, + 0.0068460701811758895 + ], + "object_to_gripper_xy": 0.007182000218615533, + "object_to_gripper_z": 0.0068460701811758895, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3415829528141959, + -0.019929296598624784, + 1.1586800044367187 + ], + "finger_b": [ + 0.330767122900174, + 0.00453655126604148, + 1.1586800044367187 + ], + "finger_midpoint": [ + 0.33617503785718494, + -0.007696372666291652, + 1.1586800044367187 + ], + "object_minus_finger_midpoint": [ + 0.005407914957010929, + 0.012232923932333132, + 0.0 + ], + "finger_gap": 0.026749951186236673, + "fingertip_max_gap": 0.09134982583321119, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013374975593118336, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1586800044367187, + "object_top_z": 1.2044634140726922, + "finger_top_clearance": 0.04578340963597349, + "fingertip_min_top_clearance": 0.013735022890792047, + "object_projection_between_fingers": 0.8365165814704536, + "object_to_finger_line_xy": 0.009892296526608842, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0481749129166056, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1951860024368552, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33548076195448756, + -0.30431018384062386, + 0.8470198890859172 + ], + "target_position": [ + 0.3272998248094184, + -0.3063836691389407, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008439613371115337, + "xy_threshold": 0.08, + "gripper_dist": 0.18669992786837022, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198890859172, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575159152583007, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08797836543752967, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15471247285511724, + "release_required_pad_clearance": 0.053989182718764836, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9884624261753157, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007284879684448242, + "max_z_decrease": 0.007284879684448242, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500824491883494, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007284879684448242, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021272510796316247, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007284879684448242, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007284907387546438, + "max_button_displacement": 0.12, + "button_start": [ + 0.1829997450113296, + -0.3626451194286346, + 0.7768088579177856 + ], + "button_final": [ + 0.1829997450113296, + -0.3626451194286346, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18333694112492344, + -0.3618816943501885, + 0.807097524786463 + ], + "closest_button": [ + 0.1829929202795028, + -0.36265149712562555, + 0.7720994353294373 + ], + "closest_ee_minus_button": [ + 0.00034402084542062283, + 0.000769802775437034, + 0.03499808945702576 + ], + "button_min_z_position": [ + 0.18298010528087613, + -0.3626493513584137, + 0.7695239782333374 + ], + "min_active_finger_to_button": 0.14523844297351218, + "closest_active_finger": [ + 0.05649136006832123, + -0.4247693121433258, + 0.8082802891731262 + ], + "closest_active_finger_button": [ + 0.18301075696945185, + -0.36265143752098083, + 0.7732315063476562 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12651939690113062, + -0.06211787462234497, + 0.03504878282546997 + ], + "min_contact_pad_to_button": 0.021272510796316247, + "closest_contact_pad": [ + 0.18298010528087613, + -0.36304730586020273, + 0.7907927663462953 + ], + "closest_contact_pad_button": [ + 0.18298010528087613, + -0.3626493513584137, + 0.7695239782333374 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003979545017890329, + 0.021268788112957848 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0fd9c4893d265f59e2aa822e1197c3f06c06591f1613730dcde20ee2a79cc5bd", + "visual_seed": 6861706013040706788, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..23d6ea74dcdd904f1c34cfda7b2f87de6e3da7a7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_53_success.json @@ -0,0 +1,700 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3357614532076899, + 0.0013226665208362852, + 1.1608062534495551 + ], + "current_z": 1.1608062534495551, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30421974604098956, + "gripper_z": 1.153952647911437, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33067795770330644, + -0.0035796459160975513, + 1.153952647911437 + ], + "object_minus_gripper": [ + 0.005083495504383473, + 0.004902312436933837, + 0.0068536055381180905 + ], + "object_to_gripper_xy": 0.00706219468525211, + "object_to_gripper_z": 0.0068536055381180905, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3357614532076899, + -0.022993052630424556, + 1.1608062534495551 + ], + "finger_b": [ + 0.32494918881924967, + 0.0013226665208362852, + 1.1608062534495551 + ], + "finger_midpoint": [ + 0.33035532101346976, + -0.010835193054794136, + 1.1608062534495551 + ], + "object_minus_finger_midpoint": [ + 0.005406132194220148, + 0.012157859575630422, + 0.0 + ], + "finger_gap": 0.02661126188380638, + "fingertip_max_gap": 0.0914599444468486, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013305630941903202, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1608062534495551, + "object_top_z": 1.2066041488138697, + "finger_top_clearance": 0.045797895364314556, + "fingertip_min_top_clearance": 0.013739368609294367, + "object_projection_between_fingers": 0.8349169911827389, + "object_to_finger_line_xy": 0.009879576000808814, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482299722234243, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1585612778800867, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3376329494649661, + -0.31092003751496833, + 0.8470195626322153 + ], + "target_position": [ + 0.330116560582198, + -0.31252636389708865, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007686116463006214, + "xy_threshold": 0.08, + "gripper_dist": 0.1873963621084322, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195626322153, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556528292328747, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0875401841077058, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.155711323130517, + "release_required_pad_clearance": 0.0537700920538529, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.549443004549597, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007722139358520508, + "max_z_decrease": 0.007722139358520508, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503765812829153, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007722139358520508, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021398432141778976, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007722139358520508, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00772215811693139, + "max_button_displacement": 0.12, + "button_start": [ + 0.1858164817094802, + -0.36878782510757446, + 0.7768088579177856 + ], + "button_final": [ + 0.1858164817094802, + -0.36878782510757446, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18642834879448134, + -0.3700977247147597, + 0.8041621987977087 + ], + "closest_button": [ + 0.1857995688915252, + -0.3687881827354431, + 0.7691546678543091 + ], + "closest_ee_minus_button": [ + 0.0006287799029561225, + -0.0013095419793165974, + 0.03500753094339959 + ], + "button_min_z_position": [ + 0.18579946458339686, + -0.3687881827354431, + 0.7690867185592651 + ], + "min_active_finger_to_button": 0.1453415584632093, + "closest_active_finger": [ + 0.0458919033408165, + -0.3521912693977356, + 0.8085044622421265 + ], + "closest_active_finger_button": [ + 0.18583117425441736, + -0.36879473924636835, + 0.7729306817054749 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13993927091360087, + 0.016603469848632757, + 0.03557378053665161 + ], + "min_contact_pad_to_button": 0.021398432141778976, + "closest_contact_pad": [ + 0.18579946458339686, + -0.3714559603645068, + 0.7903182013300983 + ], + "closest_contact_pad_button": [ + 0.18579946458339686, + -0.3687881827354431, + 0.7690867185592651 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026677776290636723, + 0.0212314827708332 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e07ddd55ae3565963736c83d2fac26a3dba55c7fce8a70b3c2c20b80f455a439", + "visual_seed": 8885814343537674436, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4e67dd54c0044ee4e324ace3dfc4db8aecc36ec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_54_success.json @@ -0,0 +1,700 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3425529072441621, + 0.0059431116712680004, + 1.1600188785924803 + ], + "current_z": 1.1600188785924803, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.30343231157927, + "gripper_z": 1.15317844071485, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33725393708389206, + 0.0009215002287069479, + 1.15317844071485 + ], + "object_minus_gripper": [ + 0.005298970160270033, + 0.0050216114425610525, + 0.006840437877630334 + ], + "object_to_gripper_xy": 0.007300388088279439, + "object_to_gripper_z": 0.006840437877630334, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3425529072441621, + -0.018439925287744234, + 1.1600188785924803 + ], + "finger_b": [ + 0.3314554116974688, + 0.0059431116712680004, + 1.1600188785924803 + ], + "finger_midpoint": [ + 0.3370041594708154, + -0.006248406808238117, + 1.1600188785924803 + ], + "object_minus_finger_midpoint": [ + 0.005548747773346685, + 0.012191518479506117, + 0.0 + ], + "finger_gap": 0.026789678959506673, + "fingertip_max_gap": 0.09129655528975003, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013394839479753349, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1600188785924803, + "object_top_z": 1.2058161796031377, + "finger_top_clearance": 0.045797301010657376, + "fingertip_min_top_clearance": 0.013739190303197245, + "object_projection_between_fingers": 0.8284009257758677, + "object_to_finger_line_xy": 0.010100555683272717, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814827764487502, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0766294069070392, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33551785429672387, + -0.3102379292897504, + 0.8470195212847043 + ], + "target_position": [ + 0.32816541378476966, + -0.31142067694197223, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00744696404521076, + "xy_threshold": 0.08, + "gripper_dist": 0.18591211553031906, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195212847043, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523310045389214, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08604236093635696, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1549309576173173, + "release_required_pad_clearance": 0.05302118046817848, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0733666167725815, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007616162300109863, + "max_z_decrease": 0.007616162300109863, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507911343743279, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007616162300109863, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021195938812305526, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007616162300109863, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007616182647066227, + "max_button_displacement": 0.12, + "button_start": [ + 0.18386533856391907, + -0.3676821291446685, + 0.7768088579177856 + ], + "button_final": [ + 0.18386533856391907, + -0.3676821291446685, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18354881453602037, + -0.3659259941346394, + 0.8075534255480076 + ], + "closest_button": [ + 0.18385529518127441, + -0.36768707633018494, + 0.7725198864936829 + ], + "closest_ee_minus_button": [ + -0.0003064806452540425, + 0.0017610821955455491, + 0.035033539054324714 + ], + "button_min_z_position": [ + 0.18384842574596405, + -0.3676870167255401, + 0.7691926956176758 + ], + "min_active_finger_to_button": 0.145751008888619, + "closest_active_finger": [ + 0.05719371885061264, + -0.4308759272098541, + 0.811012327671051 + ], + "closest_active_finger_button": [ + 0.183869868516922, + -0.3676840662956237, + 0.7763237357139587 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12667614966630936, + -0.0631918609142304, + 0.034688591957092285 + ], + "min_contact_pad_to_button": 0.021195938812305526, + "closest_contact_pad": [ + 0.18384842574596405, + -0.3676870167255401, + 0.7903886344299813 + ], + "closest_contact_pad_button": [ + 0.18384842574596405, + -0.3676870167255401, + 0.7691926956176758 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021195938812305526 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bd87e398a7ba1c69894b484758074043fe51d0ea2e9dfc817b07048e599bbcc8", + "visual_seed": 3809285704956609547, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2b28f0bdcfcbf2a3cc375c0ad3ef852675bd10ab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_55_success.json @@ -0,0 +1,700 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3434780122355924, + 0.01041833185178936, + 1.1580571015327001 + ], + "current_z": 1.1580571015327001, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30147059412413457, + "gripper_z": 1.1512040766068175, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3383718788344042, + 0.005368709818330986, + 1.1512040766068175 + ], + "object_minus_gripper": [ + 0.005106133401188151, + 0.005049622033458375, + 0.006853024925882689 + ], + "object_to_gripper_xy": 0.007181314711911571, + "object_to_gripper_z": 0.006853024925882689, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3434780122355924, + -0.01375234356936841, + 1.1580571015327001 + ], + "finger_b": [ + 0.33223589817805155, + 0.01041833185178936, + 1.1580571015327001 + ], + "finger_midpoint": [ + 0.33785695520682196, + -0.0016670058587895248, + 1.1580571015327001 + ], + "object_minus_finger_midpoint": [ + 0.005621057028770415, + 0.012085337710578885, + 0.0 + ], + "finger_gap": 0.026657206882899746, + "fingertip_max_gap": 0.09140155504094613, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013328603441449873, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1580571015327001, + "object_top_z": 1.203862269222303, + "finger_top_clearance": 0.045805167689602966, + "fingertip_min_top_clearance": 0.013741550306880923, + "object_projection_between_fingers": 0.8221447500372647, + "object_to_finger_line_xy": 0.010193471923975864, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04820077752047307, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1111301203439483, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3363811308301751, + -0.3044959138144028, + 0.8470198291721232 + ], + "target_position": [ + 0.3291453713829097, + -0.3057538657104579, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007344294230998585, + "xy_threshold": 0.08, + "gripper_dist": 0.18718242979107208, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470198291721232, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534914913894578, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08594086603583788, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1557801229256706, + "release_required_pad_clearance": 0.05297043301791894, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9747722962804336, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007321298122406006, + "max_z_decrease": 0.007321298122406006, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500107189723221, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007321298122406006, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02125859594348408, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007321298122406006, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007321315856720721, + "max_button_displacement": 0.12, + "button_start": [ + 0.1848452985286712, + -0.36201533675193787, + 0.7768088579177856 + ], + "button_final": [ + 0.1848452985286712, + -0.36201533675193787, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1844316866307015, + -0.361437865978963, + 0.8044815626375603 + ], + "closest_button": [ + 0.18482941389083857, + -0.36201804876327515, + 0.7694875597953796 + ], + "closest_ee_minus_button": [ + -0.00039772726013706516, + 0.0005801827843121554, + 0.03499400284218068 + ], + "button_min_z_position": [ + 0.18482941389083857, + -0.36201804876327515, + 0.7694875597953796 + ], + "min_active_finger_to_button": 0.14601630393125992, + "closest_active_finger": [ + 0.057418979704380035, + -0.42400187253952026, + 0.8083817958831787 + ], + "closest_active_finger_button": [ + 0.18485780060291285, + -0.36202308535575867, + 0.7731860876083374 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1274388208985328, + -0.0619787871837616, + 0.03519570827484131 + ], + "min_contact_pad_to_button": 0.02125859594348408, + "closest_contact_pad": [ + 0.18482941389083857, + -0.3626660802897325, + 0.7907362763831888 + ], + "closest_contact_pad_button": [ + 0.18482941389083857, + -0.36201804876327515, + 0.7694875597953796 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006480315264573711, + 0.021248716587809136 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bf2d4d637c4037cad0456235eb4cc9f0268480697d4a9c44ac5d5fc0de606dcc", + "visual_seed": 5815477553888386374, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..de6fb327353ac224ba494b866c3e1a823cb30355 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_56_success.json @@ -0,0 +1,700 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3410994399713191, + 0.005121504739313135, + 1.1585235627165587 + ], + "current_z": 1.1585235627165587, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3019370553079931, + "gripper_z": 1.151689139921335, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3360372925197972, + 9.637287445354858e-05, + 1.151689139921335 + ], + "object_minus_gripper": [ + 0.005062147451521892, + 0.005025131864859586, + 0.006834422795223727 + ], + "object_to_gripper_xy": 0.0071328316312791774, + "object_to_gripper_z": 0.006834422795223727, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3410994399713191, + -0.019006263216250503, + 1.1585235627165587 + ], + "finger_b": [ + 0.32986937354796064, + 0.005121504739313135, + 1.1585235627165587 + ], + "finger_midpoint": [ + 0.33548440675963986, + -0.006942379238468684, + 1.1585235627165587 + ], + "object_minus_finger_midpoint": [ + 0.005615033211679221, + 0.012063883977781818, + 0.0 + ], + "finger_gap": 0.02661322187166684, + "fingertip_max_gap": 0.09121975083260445, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01330661093583342, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1585235627165587, + "object_top_z": 1.2043519450540427, + "finger_top_clearance": 0.0458283823374841, + "fingertip_min_top_clearance": 0.013748514701245228, + "object_projection_between_fingers": 0.8219386175982384, + "object_to_finger_line_xy": 0.01018127147832586, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048109875416302225, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0849612617377131, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33920331070160326, + -0.3092008536670714, + 0.8470197432565999 + ], + "target_position": [ + 0.33187190351609314, + -0.3106077717458752, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007465182502806912, + "xy_threshold": 0.08, + "gripper_dist": 0.1849981840850464, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470197432565999, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529203003166654, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559031930856607, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15387297952352116, + "release_required_pad_clearance": 0.05279515965428304, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.636733872495327, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 160, + "max_placed_release_frames": 160 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007620573043823242, + "max_z_decrease": 0.007620573043823242, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035119886022985415, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007620573043823242, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021246807655083577, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007620573043823242, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007620592163840349, + "max_button_displacement": 0.12, + "button_start": [ + 0.18757182359695432, + -0.36686924099922175, + 0.7768088579177856 + ], + "button_final": [ + 0.18757182359695432, + -0.36686924099922175, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18516920937549589, + -0.36511452697082875, + 0.8060576163094281 + ], + "closest_button": [ + 0.18755829334259028, + -0.36687120795249933, + 0.7710631489753723 + ], + "closest_ee_minus_button": [ + -0.002389083967094391, + 0.0017566809816705886, + 0.03499446733405576 + ], + "button_min_z_position": [ + 0.18755495548248285, + -0.36687186360359186, + 0.7691882848739624 + ], + "min_active_finger_to_button": 0.14750531733633734, + "closest_active_finger": [ + 0.05807401239871979, + -0.428131639957428, + 0.8080813884735107 + ], + "closest_active_finger_button": [ + 0.18758374452590937, + -0.36687785387039185, + 0.7729669809341431 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12950973212718958, + -0.06125378608703613, + 0.035114407539367676 + ], + "min_contact_pad_to_button": 0.021246807655083577, + "closest_contact_pad": [ + 0.18755495548248285, + -0.36687186360359186, + 0.790435092529046 + ], + "closest_contact_pad_button": [ + 0.18755495548248285, + -0.36687186360359186, + 0.7691882848739624 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021246807655083577 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bb7537d0c568973099b8e1bfd302c8ac75a8291607781021f4c8989fe473262a", + "visual_seed": 3155326399459297739, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..51e9755bb46e4724c4baecb376dc40cb27cf1306 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_57_success.json @@ -0,0 +1,700 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33761260208887556, + 0.0019569771320069903, + 1.158124409916334 + ], + "current_z": 1.158124409916334, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.301537723693834, + "gripper_z": 1.1512450466353126, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33247272244090154, + -0.0030033176194596, + 1.1512450466353126 + ], + "object_minus_gripper": [ + 0.005139879647974022, + 0.004960294751466591, + 0.0068793632810213445 + ], + "object_to_gripper_xy": 0.007143030646517244, + "object_to_gripper_z": 0.0068793632810213445, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33761260208887556, + -0.022317984462623897, + 1.158124409916334 + ], + "finger_b": [ + 0.3266085460535655, + 0.0019569771320069903, + 1.158124409916334 + ], + "finger_midpoint": [ + 0.3321105740712205, + -0.010180503665308453, + 1.158124409916334 + ], + "object_minus_finger_midpoint": [ + 0.005502028017655036, + 0.012137480797315444, + 0.0 + ], + "finger_gap": 0.02665263607317386, + "fingertip_max_gap": 0.09136542061854105, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01332631803658693, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.158124409916334, + "object_top_z": 1.2038540639943052, + "finger_top_clearance": 0.04572965407797125, + "fingertip_min_top_clearance": 0.013718896223391341, + "object_projection_between_fingers": 0.8295389151976429, + "object_to_finger_line_xy": 0.01002238716309119, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818271030927053, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1738696928103602, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33248608184542283, + -0.3061755277185223, + 0.8470195361061287 + ], + "target_position": [ + 0.3242224428469133, + -0.30816544968659254, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0084998540538468, + "xy_threshold": 0.08, + "gripper_dist": 0.18670968241446367, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195361061287, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758514267655618, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08768615506475956, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15446245722152743, + "release_required_pad_clearance": 0.05384307753237978, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.695401549635183, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 156, + "max_placed_release_frames": 156 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007291853427886963, + "max_z_decrease": 0.007291853427886963, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502043953341331, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007291853427886963, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.021433764442840793, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007291853427886963, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007291880882640421, + "max_button_displacement": 0.12, + "button_start": [ + 0.17992237210273743, + -0.36442691087722784, + 0.7768088579177856 + ], + "button_final": [ + 0.17992237210273743, + -0.36442691087722784, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18054373213794772, + -0.36548465821299964, + 0.8115952791952158 + ], + "closest_button": [ + 0.1799275130033493, + -0.36442866921424866, + 0.776596188545227 + ], + "closest_ee_minus_button": [ + 0.0006162191345984169, + -0.0010559889987509785, + 0.03499909064998874 + ], + "button_min_z_position": [ + 0.17990277707576752, + -0.3644309639930725, + 0.7695170044898987 + ], + "min_active_finger_to_button": 0.14564502361578208, + "closest_active_finger": [ + 0.03945748507976532, + -0.34864935278892517, + 0.808292031288147 + ], + "closest_active_finger_button": [ + 0.17993387579917908, + -0.36443337798118597, + 0.7732246518135071 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14047639071941376, + 0.015784025192260798, + 0.03506737947463989 + ], + "min_contact_pad_to_button": 0.021433764442840793, + "closest_contact_pad": [ + 0.17990277707576752, + -0.3670535642451029, + 0.7907897153211312 + ], + "closest_contact_pad_button": [ + 0.17990277707576752, + -0.3644309639930725, + 0.7695170044898987 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026226002520303715, + 0.0212727108312325 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "23e9bfd58dc39e5578714256ee86b8be1d488987daeabbb18d8f0ad3dfe0d4a5", + "visual_seed": 430671392898656176, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e003c59f2ee714198f32b74ef339fe0230f600e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_58_success.json @@ -0,0 +1,700 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34293989007275727, + 0.0018450845885508447, + 1.1587402904565514 + ], + "current_z": 1.1587402904565514, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3021537830479858, + "gripper_z": 1.151916059353429, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3379117727633182, + -0.003237969374446578, + 1.151916059353429 + ], + "object_minus_gripper": [ + 0.005028117309439084, + 0.005083053962997423, + 0.006824231103122358 + ], + "object_to_gripper_xy": 0.007149783302186489, + "object_to_gripper_z": 0.006824231103122358, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34293989007275727, + -0.022152425466626897, + 1.1587402904565514 + ], + "finger_b": [ + 0.331487938814617, + 0.0018450845885508447, + 1.1587402904565514 + ], + "finger_midpoint": [ + 0.33721391444368715, + -0.010153670439038026, + 1.1587402904565514 + ], + "object_minus_finger_midpoint": [ + 0.005725975629070124, + 0.011998755027588872, + 0.0 + ], + "finger_gap": 0.026589992035861477, + "fingertip_max_gap": 0.09179198624095988, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01329499601793074, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1587402904565514, + "object_top_z": 1.204593192097975, + "finger_top_clearance": 0.04585290164142375, + "fingertip_min_top_clearance": 0.013755870492427125, + "object_projection_between_fingers": 0.8145091175579907, + "object_to_finger_line_xy": 0.010335404203881805, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048395993120479944, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4817177586475208, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3316114391814744, + -0.31143898119925195, + 0.8470195955343562 + ], + "target_position": [ + 0.32367932831487267, + -0.31300875782548104, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008085949632313844, + "xy_threshold": 0.08, + "gripper_dist": 0.1853237367873666, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195955343562, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520305754436793, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504202119446529, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15449076430191824, + "release_required_pad_clearance": 0.052521010597232645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11190489032756812, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007410705089569092, + "max_z_decrease": 0.007410705089569092, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505755649721596, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007410705089569092, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02118704640535221, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007410705089569092, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007410729758958233, + "max_button_displacement": 0.12, + "button_start": [ + 0.17937925457954398, + -0.3692702054977417, + 0.7768088579177856 + ], + "button_final": [ + 0.17937925457954398, + -0.3692702054977417, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17793429393801746, + -0.36874728288387165, + 0.8076869964196753 + ], + "closest_button": [ + 0.17936812341213218, + -0.36927565932273865, + 0.7726627588272095 + ], + "closest_ee_minus_button": [ + -0.0014338294741147173, + 0.0005283764388669954, + 0.03502423759246587 + ], + "button_min_z_position": [ + 0.1793607920408248, + -0.36927518248558044, + 0.7693981528282166 + ], + "min_active_finger_to_button": 0.14726880376368384, + "closest_active_finger": [ + 0.050783589482307434, + -0.4321177005767822, + 0.8111215233802795 + ], + "closest_active_finger_button": [ + 0.17938236892223347, + -0.36927226185798645, + 0.7764674425125122 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12859877943992604, + -0.06284543871879578, + 0.034654080867767334 + ], + "min_contact_pad_to_button": 0.02118704640535221, + "closest_contact_pad": [ + 0.1793607920408248, + -0.37002522430911494, + 0.7905719189704383 + ], + "closest_contact_pad_button": [ + 0.1793607920408248, + -0.36927518248558044, + 0.7693981528282166 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007500418235344974, + 0.021173766142221773 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0abcf8d950d6cb43720579f3972bd08acc91550bcea3976bf57dd69bd2d5f645", + "visual_seed": 2601481845549067459, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..816f97efbeb4a73c02ad70badd28df45d7f8fd24 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_59_success.json @@ -0,0 +1,700 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34228558643214296, + 0.008637407032886643, + 1.1597010875688458 + ], + "current_z": 1.1597010875688458, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.30311458016028026, + "gripper_z": 1.1528707655693915, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33720377125160683, + 0.0036106235432316613, + 1.1528707655693915 + ], + "object_minus_gripper": [ + 0.005081815180536131, + 0.0050267834896549814, + 0.006830321999454325 + ], + "object_to_gripper_xy": 0.007147964590077051, + "object_to_gripper_z": 0.006830321999454325, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34228558643214296, + -0.015519021439655613, + 1.1597010875688458 + ], + "finger_b": [ + 0.33107259023723856, + 0.008637407032886643, + 1.1597010875688458 + ], + "finger_midpoint": [ + 0.33667908833469073, + -0.003440807203384485, + 1.1597010875688458 + ], + "object_minus_finger_midpoint": [ + 0.005606498097452228, + 0.012078214236271128, + 0.0 + ], + "finger_gap": 0.026632016825918214, + "fingertip_max_gap": 0.09135896353563175, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013316008412959117, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597010875688458, + "object_top_z": 1.2055397525790186, + "finger_top_clearance": 0.04583866501017275, + "fingertip_min_top_clearance": 0.013751599503051859, + "object_projection_between_fingers": 0.8227300033524145, + "object_to_finger_line_xy": 0.01017068824774437, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04817948176781588, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1847746176826237, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33433238291180256, + -0.30609969981595964, + 0.847020002713625 + ], + "target_position": [ + 0.3260125365206233, + -0.3081762675554036, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008575078865486795, + "xy_threshold": 0.08, + "gripper_dist": 0.18676945482893978, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.847020002713625, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562992546739729, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08680016189564004, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1548447199110878, + "release_required_pad_clearance": 0.05340008094782002, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.812667894171742, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0073517560958862305, + "max_z_decrease": 0.0073517560958862305, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035048959324639355, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0073517560958862305, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02148399621573549, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0073517560958862305, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007351773639737921, + "max_button_displacement": 0.12, + "button_start": [ + 0.18171246349811554, + -0.3644377291202545, + 0.7768088579177856 + ], + "button_final": [ + 0.18171246349811554, + -0.3644377291202545, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18178536580231433, + -0.3663794551826182, + 0.8044522050251328 + ], + "closest_button": [ + 0.18169647455215454, + -0.3644392490386963, + 0.7694571018218994 + ], + "closest_ee_minus_button": [ + 8.889125015978938e-05, + -0.0019402061439219298, + 0.0349951032032334 + ], + "button_min_z_position": [ + 0.18169647455215454, + -0.3644392490386963, + 0.7694571018218994 + ], + "min_active_finger_to_button": 0.14574132731879885, + "closest_active_finger": [ + 0.041245147585868835, + -0.348395973443985, + 0.8085052371025085 + ], + "closest_active_finger_button": [ + 0.1817249357700348, + -0.36444520950317383, + 0.7731727361679077 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14047978818416595, + 0.016049236059188843, + 0.03533250093460083 + ], + "min_contact_pad_to_button": 0.02148399621573549, + "closest_contact_pad": [ + 0.1817249357700348, + -0.36444520950317383, + 0.7946567323836432 + ], + "closest_contact_pad_button": [ + 0.1817249357700348, + -0.36444520950317383, + 0.7731727361679077 + ], + "closest_contact_pad_index": 1, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02148399621573549 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "287ffd82672262980c41639ab45e51c7232a0b56d64c206de878e151f13e5017", + "visual_seed": 4406528672449978022, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a25622abc65bc98183ddec971b9f88fc6195ca17 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_5_success.json @@ -0,0 +1,700 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3374856364887199, + 0.009498241975899923, + 1.1585375891462297 + ], + "current_z": 1.1585375891462297, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.30195114134230894, + "gripper_z": 1.1516826343129156, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.332456162573773, + 0.004631981734330409, + 1.1516826343129156 + ], + "object_minus_gripper": [ + 0.0050294739149469025, + 0.004866260241569513, + 0.006854954833314109 + ], + "object_to_gripper_xy": 0.006998292405995301, + "object_to_gripper_z": 0.006854954833314109, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3374856364887199, + -0.014715565164371235, + 1.1585375891462297 + ], + "finger_b": [ + 0.32663474561415007, + 0.009498241975899923, + 1.1585375891462297 + ], + "finger_midpoint": [ + 0.33206019105143497, + -0.0026086615942356563, + 1.1585375891462297 + ], + "object_minus_finger_midpoint": [ + 0.005425445437284904, + 0.01210690357013558, + 0.0 + ], + "finger_gap": 0.026533945974884114, + "fingertip_max_gap": 0.09154720171809297, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013266972987442057, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1585375891462297, + "object_top_z": 1.2043130238496782, + "finger_top_clearance": 0.04577543470344847, + "fingertip_min_top_clearance": 0.013732630411034508, + "object_projection_between_fingers": 0.8327650245845645, + "object_to_finger_line_xy": 0.009902084642279024, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827360085904649, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2947315085265736, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3316834831939003, + -0.3050811687681112, + 0.8470194841871228 + ], + "target_position": [ + 0.3238670144322924, + -0.30650163218230564, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007944488669024407, + "xy_threshold": 0.08, + "gripper_dist": 0.18920431678082908, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194841871228, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519303609076462, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863873731556614, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15827044743756577, + "release_required_pad_clearance": 0.053193686577830704, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4094224525358097, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 163, + "max_placed_release_frames": 163 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007526516914367676, + "max_z_decrease": 0.007526516914367676, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349966041207844, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007526516914367676, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.02130759382798711, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007526516914367676, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007526543800581775, + "max_button_displacement": 0.12, + "button_start": [ + 0.17956693470478058, + -0.3627630770206451, + 0.7768088579177856 + ], + "button_final": [ + 0.17956693470478058, + -0.3627630770206451, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17937668414831281, + -0.36269311358827216, + 0.8062097291414422 + ], + "closest_button": [ + 0.17955395579338074, + -0.3627663850784301, + 0.7712136507034302 + ], + "closest_ee_minus_button": [ + -0.00017727164506792237, + 7.327149015795564e-05, + 0.034996078438012 + ], + "button_min_z_position": [ + 0.17954735457897186, + -0.3627676963806152, + 0.769282341003418 + ], + "min_active_finger_to_button": 0.14626905660833395, + "closest_active_finger": [ + 0.05190698802471161, + -0.4250107705593109, + 0.8078480362892151 + ], + "closest_active_finger_button": [ + 0.17957800626754758, + -0.3627686500549316, + 0.7729099988937378 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12767101824283597, + -0.06224212050437933, + 0.034938037395477295 + ], + "min_contact_pad_to_button": 0.02130759382798711, + "closest_contact_pad": [ + 0.17954735457897186, + -0.36405814174886736, + 0.790550822507513 + ], + "closest_contact_pad_button": [ + 0.17954735457897186, + -0.3627676963806152, + 0.769282341003418 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00129044536825218, + 0.021268481504094994 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "711100a535f587b970377d0ccd449dc38439c5f428be55d50a960c51ef3ffb50", + "visual_seed": 770508463042499034, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fb91b298b036f3c378fd48d1a28621cebefede4d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_60_success.json @@ -0,0 +1,700 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33818485098055573, + 0.0017815890720809316, + 1.1608874764896293 + ], + "current_z": 1.1608874764896293, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.3043010286857084, + "gripper_z": 1.1540130826577097, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33306792199130364, + -0.0032449185699495176, + 1.1540130826577097 + ], + "object_minus_gripper": [ + 0.00511692898925209, + 0.005026507642030449, + 0.006874393831919567 + ], + "object_to_gripper_xy": 0.007172777799182052, + "object_to_gripper_z": 0.006874393831919567, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33818485098055573, + -0.02236233482327587, + 1.1608874764896293 + ], + "finger_b": [ + 0.3269326147475516, + 0.0017815890720809316, + 1.1608874764896293 + ], + "finger_midpoint": [ + 0.3325587328640537, + -0.010290372875597469, + 1.1608874764896293 + ], + "object_minus_finger_midpoint": [ + 0.0056261181165020435, + 0.0120719619476784, + 0.0 + ], + "finger_gap": 0.02663722735774338, + "fingertip_max_gap": 0.09132172419902526, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013318613678871678, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1608874764896293, + "object_top_z": 1.2066349457692012, + "finger_top_clearance": 0.04574746927957185, + "fingertip_min_top_clearance": 0.013724240783871555, + "object_projection_between_fingers": 0.8215569459974544, + "object_to_finger_line_xy": 0.010199002006237471, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04816086209951263, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1258915314845763, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.340039652878425, + -0.307082480974465, + 0.8470194293589033 + ], + "target_position": [ + 0.33173970978781125, + -0.3091822752756139, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008561436293903307, + "xy_threshold": 0.08, + "gripper_dist": 0.18980564863644803, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470194293589033, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584251103948515, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08654957631710601, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15739447512817037, + "release_required_pad_clearance": 0.05327478815855301, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5686907466374085, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 161, + "max_placed_release_frames": 161 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007575631141662598, + "max_z_decrease": 0.007575631141662598, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035030523243597914, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007575631141662598, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021312460883277394, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007575631141662598, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007575653256192539, + "max_button_displacement": 0.12, + "button_start": [ + 0.18743963539600367, + -0.3654437363147735, + 0.7768088579177856 + ], + "button_final": [ + 0.18743963539600367, + -0.3654437363147735, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1862755408563872, + -0.36570323203337246, + 0.8080321768870049 + ], + "closest_button": [ + 0.1874528676271438, + -0.36545076966285694, + 0.7730223536491394 + ], + "closest_ee_minus_button": [ + -0.0011773267707566037, + -0.000252462370515516, + 0.0350098232378655 + ], + "button_min_z_position": [ + 0.1874213963747024, + -0.3654452860355376, + 0.769233226776123 + ], + "min_active_finger_to_button": 0.1475752643867366, + "closest_active_finger": [ + 0.04510994255542755, + -0.3491314947605133, + 0.8083866238594055 + ], + "closest_active_finger_button": [ + 0.1874528676271438, + -0.36545076966285694, + 0.7730223536491394 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14234292507171625, + 0.01631927490234364, + 0.03536427021026611 + ], + "min_contact_pad_to_button": 0.021312460883277394, + "closest_contact_pad": [ + 0.1874213963747024, + -0.3671928168948357, + 0.7904739217929305 + ], + "closest_contact_pad_button": [ + 0.1874213963747024, + -0.3654452860355376, + 0.769233226776123 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017475308592980743, + 0.021240695016807476 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a814ce4f552981d88dc181f9a972a05b6585a7f681147e364d4215ed2b4deb91", + "visual_seed": 842584460219857440, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ae677fba45b76a170531b195cd747008b834b906 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_61_success.json @@ -0,0 +1,700 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3371351110942639, + 0.004213081497132294, + 1.1599464197211566 + ], + "current_z": 1.1599464197211566, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.3033600315218806, + "gripper_z": 1.1530869950389258, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33213347229469864, + -0.0007766800355586689, + 1.1530869950389258 + ], + "object_minus_gripper": [ + 0.005001638799565278, + 0.004989761532690963, + 0.006859424682230886 + ], + "object_to_gripper_xy": 0.007064991920337861, + "object_to_gripper_z": 0.006859424682230886, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3371351110942639, + -0.019853860564492485, + 1.1599464197211566 + ], + "finger_b": [ + 0.3259503922590473, + 0.004213081497132294, + 1.1599464197211566 + ], + "finger_midpoint": [ + 0.3315427516766556, + -0.007820389533680095, + 1.1599464197211566 + ], + "object_minus_finger_midpoint": [ + 0.005592359417608328, + 0.01203347103081239, + 0.0 + ], + "finger_gap": 0.026538945638823953, + "fingertip_max_gap": 0.09160542133720498, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013269472819411989, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1599464197211566, + "object_top_z": 1.2057003895842993, + "finger_top_clearance": 0.04575396986314262, + "fingertip_min_top_clearance": 0.013726190958942786, + "object_projection_between_fingers": 0.8223837025673206, + "object_to_finger_line_xy": 0.010142904086925503, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830271066860249, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.248113615892622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 362, + "max_stable_success_frames": 362, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3355733217682322, + -0.3048343006308778, + 0.8470184956478539 + ], + "target_position": [ + 0.32854087733922366, + -0.3058508785320991, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007105540463352838, + "xy_threshold": 0.08, + "gripper_dist": 0.1848395693455924, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470184956478539, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543076934594893, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1532708096144037, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 158, + "max_placed_release_frames": 158 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007376611232757568, + "max_z_decrease": 0.007376611232757568, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349953908053652, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007376611232757568, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021304913056928308, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007376611232757568, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007376632310903929, + "max_button_displacement": 0.12, + "button_start": [ + 0.18424080312252042, + -0.36211234331130976, + 0.7768088579177856 + ], + "button_final": [ + 0.18424080312252042, + -0.36211234331130976, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18393981230592163, + -0.3622887350745488, + 0.805740904463466 + ], + "closest_button": [ + 0.18422710895538327, + -0.36211481690406794, + 0.7707471251487732 + ], + "closest_ee_minus_button": [ + -0.00028729664946164357, + -0.0001739181704808468, + 0.03499377931469283 + ], + "button_min_z_position": [ + 0.18422344326972956, + -0.36211544275283813, + 0.7694322466850281 + ], + "min_active_finger_to_button": 0.14640407085731422, + "closest_active_finger": [ + 0.05684738606214523, + -0.425131618976593, + 0.8082461357116699 + ], + "closest_active_finger_button": [ + 0.18425086140632624, + -0.36211973428726196, + 0.7731461524963379 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.127403475344181, + -0.06301188468933105, + 0.03509998321533203 + ], + "min_contact_pad_to_button": 0.021304913056928308, + "closest_contact_pad": [ + 0.18422344326972956, + -0.363579988450092, + 0.7906867621173763 + ], + "closest_contact_pad_button": [ + 0.18422344326972956, + -0.36211544275283813, + 0.7694322466850281 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014645456972538495, + 0.021254515432348242 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c864fa5b93b8360f4d8e14b905b9ca5a36c235a1d218e9f028146948d69c4d31", + "visual_seed": 4511810684953501347, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5053334cff266da16f6abd690ee7e3d8d9be3922 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_62_success.json @@ -0,0 +1,700 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33708549945285565, + 0.006322961158735337, + 1.1577837813552558 + ], + "current_z": 1.1577837813552558, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.3011974527606246, + "gripper_z": 1.1509103001061334, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3321539625614894, + 0.001510786903379427, + 1.1509103001061334 + ], + "object_minus_gripper": [ + 0.004931536891366273, + 0.00481217425535591, + 0.0068734812491224595 + ], + "object_to_gripper_xy": 0.006890361178836471, + "object_to_gripper_z": 0.0068734812491224595, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33708549945285565, + -0.017979666406993305, + 1.1577837813552558 + ], + "finger_b": [ + 0.3265267530434114, + 0.006322961158735337, + 1.1577837813552558 + ], + "finger_midpoint": [ + 0.33180612624813355, + -0.005828352624128985, + 1.1577837813552558 + ], + "object_minus_finger_midpoint": [ + 0.005279373204722104, + 0.012151313782864322, + 0.0 + ], + "finger_gap": 0.026497260845933977, + "fingertip_max_gap": 0.09187232624605038, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013248630422966978, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1577837813552558, + "object_top_z": 1.2035305519299506, + "finger_top_clearance": 0.045746770574694784, + "fingertip_min_top_clearance": 0.013724031172408434, + "object_projection_between_fingers": 0.8412101432662324, + "object_to_finger_line_xy": 0.009684219174265124, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843616312302519, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5479687324357243, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3389535233429655, + -0.3075686113607373, + 0.8470185936977817 + ], + "target_position": [ + 0.33104447283644806, + -0.30913812632734233, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008063278312512929, + "xy_threshold": 0.08, + "gripper_dist": 0.18482273709684016, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470185936977817, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539793319307704, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08832195328405738, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15348571183809007, + "release_required_pad_clearance": 0.054160976642028694, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.32165080224674, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007533907890319824, + "max_z_decrease": 0.007533907890319824, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03510180334285012, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007533907890319824, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.0214512619550101, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007533907890319824, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007533925817362824, + "max_button_displacement": 0.12, + "button_start": [ + 0.18674439191818235, + -0.3653995990753174, + 0.7768088579177856 + ], + "button_final": [ + 0.18674439191818235, + -0.3653995990753174, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18479903392844638, + -0.36683695881116674, + 0.808049578226927 + ], + "closest_button": [ + 0.18675826489925382, + -0.3654062151908874, + 0.7730317115783691 + ], + "closest_ee_minus_button": [ + -0.0019592309708074407, + -0.00143074362027934, + 0.03501786664855788 + ], + "button_min_z_position": [ + 0.1867279708385467, + -0.3654002845287323, + 0.7692749500274658 + ], + "min_active_finger_to_button": 0.14822076240236895, + "closest_active_finger": [ + 0.043775856494903564, + -0.34909680485725403, + 0.8085201382637024 + ], + "closest_active_finger_button": [ + 0.18675826489925382, + -0.3654062151908874, + 0.7730317115783691 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14298240840435025, + 0.016309410333633367, + 0.03548842668533325 + ], + "min_contact_pad_to_button": 0.0214512619550101, + "closest_contact_pad": [ + 0.1867279708385467, + -0.36841271767736317, + 0.7905136384518364 + ], + "closest_contact_pad_button": [ + 0.1867279708385467, + -0.3654002845287323, + 0.7692749500274658 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030124331486308664, + 0.0212386884243706 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d742cc533e10ac47d7615b54b1e5b654ce894306437df8caa464c6d35f972084", + "visual_seed": 9174511186601882743, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fc459d2578d30e0745082cbc738025f9d451749f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00042/results/episode_63_success.json @@ -0,0 +1,700 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3372064285860698, + 0.0071449876458998494, + 1.15818071688953 + ], + "current_z": 1.15818071688953, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.30159414987631983, + "gripper_z": 1.1513065576454133, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3321127831630024, + 0.0020688309098074453, + 1.1513065576454133 + ], + "object_minus_gripper": [ + 0.005093645423067394, + 0.005076156736092404, + 0.006874159244116607 + ], + "object_to_gripper_xy": 0.007191146703086491, + "object_to_gripper_z": 0.006874159244116607, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3372064285860698, + -0.01697086416218697, + 1.15818071688953 + ], + "finger_b": [ + 0.32586994765439947, + 0.0071449876458998494, + 1.15818071688953 + ], + "finger_midpoint": [ + 0.3315381881202346, + -0.004912938258143561, + 1.15818071688953 + ], + "object_minus_finger_midpoint": [ + 0.005668240465835195, + 0.01205792590404341, + 0.0 + ], + "finger_gap": 0.026647515988244184, + "fingertip_max_gap": 0.09132457220342136, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013323757994122104, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.15818071688953, + "object_top_z": 1.2039459656742242, + "finger_top_clearance": 0.045765248784694235, + "fingertip_min_top_clearance": 0.013729574635408304, + "object_projection_between_fingers": 0.8190148005104796, + "object_to_finger_line_xy": 0.010259451361018853, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04816228610171068, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0372280409885974, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.33284472311287566, + -0.3063181646843599, + 0.8470195196201731 + ], + "target_position": [ + 0.3252125445488769, + -0.3076455892085329, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0077467545139973575, + "xy_threshold": 0.08, + "gripper_dist": 0.18508051397466807, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8470195196201731, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519634173523329, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496593450409311, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15421988490608413, + "release_required_pad_clearance": 0.052482967252046556, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956274370477981, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 159, + "max_placed_release_frames": 159 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/heat_device/heat_device/heat_device/plat", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.007253468036651611, + "max_z_decrease": 0.007253468036651611, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035022070123623586, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.007253468036651611, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 76, + "contact_point_distance": 0.02126995293603951, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.007253468036651611, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 76, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.007253492212044241, + "max_button_displacement": 0.12, + "button_start": [ + 0.18091246485710138, + -0.3639070391654968, + 0.7768088579177856 + ], + "button_final": [ + 0.18091246485710138, + -0.3639070391654968, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18164282937304999, + -0.3628199633050848, + 0.8049175524232017 + ], + "closest_button": [ + 0.18089896440505976, + -0.36391174793243414, + 0.7699204087257385 + ], + "closest_ee_minus_button": [ + 0.0007438649679902265, + 0.0010917846273493237, + 0.03499714369746321 + ], + "button_min_z_position": [ + 0.18089413642883295, + -0.3639108836650849, + 0.769555389881134 + ], + "min_active_finger_to_button": 0.14476875931528138, + "closest_active_finger": [ + 0.05457083880901337, + -0.42527860403060913, + 0.8082733154296875 + ], + "closest_active_finger_button": [ + 0.180923581123352, + -0.3639130890369416, + 0.7732411623001099 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12635274231433863, + -0.06136551499366755, + 0.03503215312957764 + ], + "min_contact_pad_to_button": 0.02126995293603951, + "closest_contact_pad": [ + 0.18089413642883295, + -0.3640499235854554, + 0.7908248883660979 + ], + "closest_contact_pad_button": [ + 0.18089413642883295, + -0.3639108836650849, + 0.769555389881134 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001390399203705095, + 0.021269498484963845 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 4252118656959509958, + "physical_seed": 2959473296244006602, + "layout_id": "layout_00042", + "step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "workflow_spec_digest": "eea5e5e4b11d1a463a5c5d12130c789ff2025068a77a4816ebbba4b119a217d1", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "66a50c6eddf99e3bbca07e23e0389e09a1a96d247ed0939422a6d96089c6104a", + "visual_seed": 3374001462074062097, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3319501461492575968, + 946050603527827413, + 3071531141632112857 + ], + "runtime_workflow_digest": "f5e6ec9161529f06ea53fc6b7af86e82bf9ac36967fa4eae35f7aed75e8dd262" + } +} \ No newline at end of file